Data Set Description

The following data sets contain synchronised thermal and colour image sequences of different people walking in front of a mobile robot (PeopleBot). The included scenarios feature single persons and crowded situations observed by a moving and stationary robot. The data was collected during several sessions at Teknik Huset, Örebro University in 2004 and 2005. Data sets 1-5 also contain ground truth information in a Viper format. The following table contains a summary for each data set (fps, number of frames, date, robot behaviour, scenario, etc.), links to zipped images in PNG format, ground truth previews showing the appearance of persons across the image frames and sped up and scaled down video previews showing both modalities together.

This data set was used for several publications related to people tracking by mobile robots including Grzegorz Cielniak’s Ph.D. thesis. If you find this data sets useful please cite the following publication: G. Cielniak, T. Duckett and A.J. Lilienthal, “Data association and occlusion handling for vision-based people tracking by mobile robots.”, Robotics and Autonomous Systems, 58 (5). pp. 435-443, 2010. The paper is available at eprints.

Data set Frames FPS Location Robot behaviour Scenario Date Ground truth Preview Comments
orebro_1_rgbt 744 10 research lab stationary single person 23.03.2005 orebro_1_rgbt
orebro_2_rgbt 519 10 research lab stationary two persons crossing 04.09.2004 orebro_2_rgbt occasional distortions in colour image
orebro_3_rgbt 1079 10 research lab stationary multiple persons 15.09.2004 orebro_3_rgbt
orebro_4_rgbt 3350 10 research lab stationary multiple persons 20.09.2004 orebro_4_rgbt
orebro_5_rgbt 3677 10 research lab corridor patrolling multiple persons 20.09.2004 orebro_5_rgbt
orebro_6_rgbt 880 4 student corridor stationary single persons walking 11.05.2004 - strong background light in colour image
orebro_7_rgbt 288 4 atrium stationary two persons crossing 11.05.2004 -
orebro_8_rgbt 936 10 research lab stationary two persons crossing 04.09.2004 -
orebro_9_rgbt 229 2 atrium stationary two persons crossing 07.05.2004 - thermal image blurred
orebro_10_rgbt 467 10 research lab stationary multiple persons 20.09.2005 -
orebro_11_rgbt 289 4 student corridor corridor patrolling multiple persons, crowded 11.05.2004 - strong background light in colour image
orebro_12_rgbt 488 4 atrium moving forward multiple persons, crowded 11.05.2004 -