https://robotica.unileon.es/api.php?action=feedcontributions&feedformat=atom&user=Carmen robotica.unileon.es - User contributions [en] 2026-05-05T08:02:59Z User contributions MediaWiki 1.27.0 https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5198 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-12-04T12:09:48Z <p>Carmen: </p> <hr /> <div>&lt;blockquote style=&quot;background-color:#ffe;border:1px solid #fb0;padding:5px 10px&quot;&gt;SciCrunch! reference: '''Range-based people tracker classifiers Benchmark Dataset, RRID:SCR_015743.'''&lt;/blockquote&gt;<br /> <br /> This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0 [Nov-2017] ===<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> ====Scenario 1. Kitchen====<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_01.bag test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_03_1.bag test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_03_2.bag test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_03_3.bag test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_04_1.bag test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_04_2.bag test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_04_3.bag test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_04_4.bag test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_05.bag test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_06.bag test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_08.bag test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_09_1.bag test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Jul 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_09_2.bag test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_09_4.bag test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_09_5.bag test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_10.bag test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_12_1.bag test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_12_2.bag test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_12_3.bag test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_13_1.bag test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_13_2.bag test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_13_3.bag test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario01/test_14.bag test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97<br /> <br /> <br /> ====Scenario 2. Living room====<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_01.bag test_01.bag]: '''duration:''' 15:37s, '''size:''' 239.7 MB, '''start date/time:''' Nov 16, 2017 12:20:19.65<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_02.bag test_02.bag]: '''duration:''' 15:05s, '''size:''' 231.4 MB, '''start date/time:''' Nov 27, 2017 18:32:24.35 <br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_03_1.bag test_03_1.bag]: '''duration:''' 55.2s, '''size:''' 14.5 MB, '''start date/time:''' Nov 16, 2017 12:43:58.29 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_03_2.bag test_03_2.bag]: '''duration:''' 44.4s, '''size:''' 10.2 MB, '''start date/time:''' Nov 16, 2017 12:46:31.99<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_03_3.bag test_03_3.bag]: '''duration:''' 51.1s, '''size:''' 13.4 MB, '''start date/time:''' Nov 16, 2017 12:47:29.66<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_04_1.bag test_04_1.bag]: '''duration:''' 01:23s, '''size:''' 21.6 MB, '''start date/time:''' Nov 16, 2017 1:50:22.18 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_04_2.bag test_04_2.bag]: '''duration:''' 01:20s, '''size:''' 21.0 MB, '''start date/time:''' Nov 16, 2017 12:52:18.44<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_04_3.bag test_04_3.bag]: '''duration:''' 01:09s, '''size:''' 18.1 MB, '''start date/time:''' Nov 16, 2017 12:53:51.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_04_4.bag test_04_4.bag]: '''duration:''' 1:21s, '''size:''' 21.3 MB, '''start date/time:''' Nov 16, 2017 12:55:31.81<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_05.bag test_05.bag]: '''duration:''' 15:07s, '''size:''' 232.4 MB, '''start date/time:''' Nov 28 2017 18:33:16.24<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_06.bag test_06.bag]: '''duration:''' 09:14s, '''size:''' 136.2 MB, '''start date/time:''' Nov 29 2017 13:12:42.61 <br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_07.bag test_07.bag]: '''duration:''' 4:39s, '''size:''' 71.5 MB, '''start date/time:''' Nov 22 2017 12:48:33.86 <br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_08.bag test_08.bag]: '''duration:''' 03:04s, '''size:''' 47.2 MB, '''start date/time:''' Nov 22 2017 12:59:08.58<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_09_1.bag test_09_1.bag]: '''duration:''' 28.8s, '''size:''' 7.7 MB, '''start date/time:''' Nov 28, 2017 17:17:46.49 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_09_2.bag test_09_2.bag]: '''duration:''' 31.9s, '''size:''' 8.4 MB, '''start date/time:''' Nov 28, 2017 17:20:48.26<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 28, 2017 17:20:05.96<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_09_4.bag test_09_4.bag]: '''duration:''' 29.9s, '''size:''' 7.9 MB, '''start date/time:''' Nov 28, 2017 17:19:26.36<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_09_5.bag test_09_5.bag]: '''duration:''' 30.8s, '''size:''' 8.1 MB, '''start date/time:''' Nov 28, 2017 17:21:20.55<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_10.bag test_10.bag]: '''duration:''' 16:05s, '''size:''' 246.6 MB, '''start date/time:''' Nov 22 2017 11:55:02.39<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_11.bag test_11.bag]: '''duration:''' 03:25s, '''size:''' 52.8 MB, '''start date/time:''' Nov 22 2017 13:08:11.99<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_12_1.bag test_12_1.bag]: '''duration:''' 01:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:55:26.25<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_12_2.bag test_12_2.bag]: '''duration:''' 1:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:56:52.47<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_12_3.bag test_12_3.bag]: '''duration:''' 50.2s, '''size:''' 13.1 MB, '''start date/time:''' Nov 16, 2017 11:44:00.10<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_13_1.bag test_13_1.bag]: '''duration:''' 58.2s, '''size:''' 15.1 MB, '''start date/time:''' Nov 22, 2017 11:48:35.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_13_2.bag test_13_2.bag]: '''duration:''' 01:05s, '''size:''' 16.9 MB, '''start date/time:''' Nov 22, 2017 11:49:48.18<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_13_3.bag test_13_3.bag]: '''duration:''' 01:14s, '''size:''' 19.2 MB, '''start date/time:''' Nov 22, 2017 11:51:22.68<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario02/test_14.bag test_14.bag]: '''duration:''' 06:17s, '''size:''' 96.3 MB, '''start date/time:''' Nov 22 2017 12:23:07.92<br /> <br /> ====Scenario 3. Bedroom====<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_01.bag test_01.bag]: '''duration:''' 15:17s, '''size:''' 234.6 MB, '''start date/time:''' Nov 21, 2017 18:56:54.87<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Nov 28, 2017 17:37:34.08<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_03_1.bag test_03_1.bag]: '''duration:''' 44.7s, '''size:''' 11.7 MB, '''start date/time:''' Nov 21, 2017 13:16:51.65<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_03_2.bag test_03_2.bag]: '''duration:''' 39.9s, '''size:''' 10.5 MB, '''start date/time:''' Nov 21, 2017 19:19:06.27<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_03_3.bag test_03_3.bag]: '''duration:''' 41.2s, '''size:''' 10.8 MB, '''start date/time:''' Nov 21, 2017 19:18:06.86<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_04_1.bag test_04_1.bag]: '''duration:''' 01:01s, '''size:''' 16.0 MB, '''start date/time:''' Nov 21, 2017 19:21:30.99 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_04_2.bag test_04_2.bag]: '''duration:''' 01:01s, '''size:''' 15.9 MB, '''start date/time:''' Nov 21, 2017 19:25:38.00<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_04_3.bag test_04_3.bag]: '''duration:''' 58.0s, '''size:''' 15.1 MB, '''start date/time:''' Nov 21, 2017 19:27:16.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_04_4.bag test_04_4.bag]: '''duration:''' 1:00s, '''size:''' 15.8 MB, '''start date/time:''' Nov 21, 2017 19:29:39.28<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_05.bag test_05.bag]: '''duration:''' 15:11s, '''size:''' 233.0 MB, '''start date/time:''' Nov 28, 2017 19:05:20.19<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_06.bag test_06.bag]: '''duration:''' 09:03s, '''size:''' 133.6 MB, '''start date/time:''' Nov 26, 2017 13:24:25.64<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Nov 27, 2017 17:34:50.22<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_08.bag test_08.bag]: '''duration:''' 03:47s, '''size:''' 58.3 MB, '''start date/time:''' Nov 27, 2017 17:41:48.32<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_09_1.bag test_09_1.bag]: '''duration:''' 31.3s, '''size:''' 8.3 MB, '''start date/time:''' Nov 28, 2017 17:23:58.31 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_09_2.bag test_09_2.bag]: '''duration:''' 30.4s, '''size:''' 8.0 MB, '''start date/time:''' Nov 28, 2017 17:24:41.09<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_09_3.bag test_09_3.bag]: '''duration:''' 31.2s, '''size:''' 8.3 MB, '''start date/time:''' Nov 28, 2017 17:25:22.22<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_09_4.bag test_09_4.bag]: '''duration:''' 31.4s, '''size:''' 8.3 MB, '''start date/time:''' Nov 28, 2017 17:26:06.98<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_09_5.bag test_09_5.bag]: '''duration:''' 33.2s, '''size:''' 8.8 MB, '''start date/time:''' Nov 28, 2017 17:26:51.32<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_10.bag test_10.bag]: '''duration:''' 10:00s, '''size:''' 153.7 MB, '''start date/time:''' Nov 22, 2017 18:15:29.53<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 59.1 MB, '''start date/time:''' Nov 22, 2017 18:25:54.55<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_12_1.bag test_12_1.bag]: '''duration:''' 41.3s, '''size:''' 10.8 MB, '''start date/time:''' Nov 22, 2017 18:35:11.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_12_2.bag test_12_2.bag]: '''duration:''' 41.8s, '''size:''' 10.9 MB, '''start date/time:''' Nov 22, 2017 18:36:12.11<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_12_3.bag test_12_3.bag]: '''duration:''' 39.8s, '''size:''' 10.5 MB, '''start date/time:''' Nov 22, 2017 18:37:05.06<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_13_1.bag test_13_1.bag]: '''duration:''' 01:01s, '''size:''' 14.9 MB, '''start date/time:''' Nov 22, 2017 18:40:13.36<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_13_2.bag test_13_2.bag]: '''duration:''' 01:00s, '''size:''' 15.7 MB, '''start date/time:''' Nov 22, 2017 18:41:28.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_13_3.bag test_13_3.bag]: '''duration:''' 01:00s, '''size:''' 15.7 MB, '''start date/time:''' Nov 22, 2017 18:42:39.52<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/scenario03/test_14.bag test_14.bag]: '''duration:''' 06:12s, '''size:''' 95.1 MB, '''start date/time:''' Nov 23, 2017 12:53:06.48</div> Carmen https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5197 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-12-01T15:10:25Z <p>Carmen: </p> <hr /> <div>&lt;blockquote style=&quot;background-color:#ffe;border:1px solid #fb0;padding:5px 10px&quot;&gt;SciCrunch! reference: '''Range-based people tracker classifiers Benchmark Dataset, RRID:SCR_015743.'''&lt;/blockquote&gt;<br /> <br /> This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0 [Nov-2017] ===<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> ====Scenario 1. Kitchen====<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Jul 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97<br /> <br /> <br /> ====Scenario 2. Living room====<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 15:37s, '''size:''' 239.7 MB, '''start date/time:''' Nov 16, 2017 12:20:19.65<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:05s, '''size:''' 231.4 MB, '''start date/time:''' Nov 27, 2017 18:32:24.35 <br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 55.2s, '''size:''' 14.5 MB, '''start date/time:''' Nov 16, 2017 12:43:58.29 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 44.4s, '''size:''' 10.2 MB, '''start date/time:''' Nov 16, 2017 12:46:31.99<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 51.1s, '''size:''' 13.4 MB, '''start date/time:''' Nov 16, 2017 12:47:29.66<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 01:23s, '''size:''' 21.6 MB, '''start date/time:''' Nov 16, 2017 1:50:22.18 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 01:20s, '''size:''' 21.0 MB, '''start date/time:''' Nov 16, 2017 12:52:18.44<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 01:09s, '''size:''' 18.1 MB, '''start date/time:''' Nov 16, 2017 12:53:51.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:21s, '''size:''' 21.3 MB, '''start date/time:''' Nov 16, 2017 12:55:31.81<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:07s, '''size:''' 232.4 MB, '''start date/time:''' Nov 28 2017 18:33:16.24<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:14s, '''size:''' 136.2 MB, '''start date/time:''' Nov 29 2017 13:12:42.61 <br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:39s, '''size:''' 71.5 MB, '''start date/time:''' Nov 22 2017 12:48:33.86 <br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:04s, '''size:''' 47.2 MB, '''start date/time:''' Nov 22 2017 12:59:08.58<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 28.8s, '''size:''' 7.7 MB, '''start date/time:''' Nov 28, 2017 17:17:46.49 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 31.9s, '''size:''' 8.4 MB, '''start date/time:''' Nov 28, 2017 17:20:48.26<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 28, 2017 17:20:05.96<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.9s, '''size:''' 7.9 MB, '''start date/time:''' Nov 28, 2017 17:19:26.36<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 30.8s, '''size:''' 8.1 MB, '''start date/time:''' Nov 28, 2017 17:21:20.55<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 16:05s, '''size:''' 246.6 MB, '''start date/time:''' Nov 22 2017 11:55:02.39<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:25s, '''size:''' 52.8 MB, '''start date/time:''' Nov 22 2017 13:08:11.99<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 01:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:55:26.25<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 1:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:56:52.47<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 50.2s, '''size:''' 13.1 MB, '''start date/time:''' Nov 16, 2017 11:44:00.10<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 58.2s, '''size:''' 15.1 MB, '''start date/time:''' Nov 22, 2017 11:48:35.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 01:05s, '''size:''' 16.9 MB, '''start date/time:''' Nov 22, 2017 11:49:48.18<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 01:14s, '''size:''' 19.2 MB, '''start date/time:''' Nov 22, 2017 11:51:22.68<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 06:17s, '''size:''' 96.3 MB, '''start date/time:''' Nov 22 2017 12:23:07.92<br /> <br /> ====Scenario 3. Bedroom====<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 15:17s, '''size:''' 234.6 MB, '''start date/time:''' Nov 21, 2017 18:56:54.87<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Nov 28, 2017 17:37:34.08<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 44.7s, '''size:''' 11.7 MB, '''start date/time:''' Nov 21, 2017 13:16:51.65<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 39.9s, '''size:''' 10.5 MB, '''start date/time:''' Nov 21, 2017 19:19:06.27<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 41.2s, '''size:''' 10.8 MB, '''start date/time:''' Nov 21, 2017 19:18:06.86<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 01:01s, '''size:''' 16.0 MB, '''start date/time:''' Nov 21, 2017 19:21:30.99 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 01:01s, '''size:''' 15.9 MB, '''start date/time:''' Nov 21, 2017 19:25:38.00<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 58.0s, '''size:''' 15.1 MB, '''start date/time:''' Nov 21, 2017 19:27:16.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:00s, '''size:''' 15.8 MB, '''start date/time:''' Nov 21, 2017 19:29:39.28<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:11s, '''size:''' 233.0 MB, '''start date/time:''' Nov 28, 2017 19:05:20.19<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:03s, '''size:''' 133.6 MB, '''start date/time:''' Nov 26, 2017 13:24:25.64<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Nov 27, 2017 17:34:50.22<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:47s, '''size:''' 58.3 MB, '''start date/time:''' Nov 27, 2017 17:41:48.32<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 31.3s, '''size:''' 8.3 MB, '''start date/time:''' Nov 28, 2017 17:23:58.31 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 30.4s, '''size:''' 8.0 MB, '''start date/time:''' Nov 28, 2017 17:24:41.09<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 31.2s, '''size:''' 8.3 MB, '''start date/time:''' Nov 28, 2017 17:25:22.22<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 31.4s, '''size:''' 8.3 MB, '''start date/time:''' Nov 28, 2017 17:26:06.98<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 33.2s, '''size:''' 8.8 MB, '''start date/time:''' Nov 28, 2017 17:26:51.32<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 10:00s, '''size:''' 153.7 MB, '''start date/time:''' Nov 22, 2017 18:15:29.53<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 59.1 MB, '''start date/time:''' Nov 22, 2017 18:25:54.55<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 41.3s, '''size:''' 10.8 MB, '''start date/time:''' Nov 22, 2017 18:35:11.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 41.8s, '''size:''' 10.9 MB, '''start date/time:''' Nov 22, 2017 18:36:12.11<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 39.8s, '''size:''' 10.5 MB, '''start date/time:''' Nov 22, 2017 18:37:05.06<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 01:01s, '''size:''' 14.9 MB, '''start date/time:''' Nov 22, 2017 18:40:13.36<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 01:00s, '''size:''' 15.7 MB, '''start date/time:''' Nov 22, 2017 18:41:28.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 01:00s, '''size:''' 15.7 MB, '''start date/time:''' Nov 22, 2017 18:42:39.52<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 06:12s, '''size:''' 95.1 MB, '''start date/time:''' Nov 23, 2017 12:53:06.48</div> Carmen https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5196 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-12-01T15:09:18Z <p>Carmen: </p> <hr /> <div>&lt;blockquote style=&quot;background-color:#ffe;border:1px solid #fb0;padding:5px 10px&quot;&gt;SciCrunch! reference: '''Range-based people tracker classifiers Benchmark Dataset, RRID:SCR_015743.'''&lt;/blockquote&gt;<br /> <br /> This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0 [Nov-2017] ===<br /> <br /> ====Scenario 1. Kitchen====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Jul 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97<br /> <br /> <br /> ====Scenario 2. Living room====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a second environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 15:37s, '''size:''' 239.7 MB, '''start date/time:''' Nov 16, 2017 12:20:19.65<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:05s, '''size:''' 231.4 MB, '''start date/time:''' Nov 27, 2017 18:32:24.35 <br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 55.2s, '''size:''' 14.5 MB, '''start date/time:''' Nov 16, 2017 12:43:58.29 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 44.4s, '''size:''' 10.2 MB, '''start date/time:''' Nov 16, 2017 12:46:31.99<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 51.1s, '''size:''' 13.4 MB, '''start date/time:''' Nov 16, 2017 12:47:29.66<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 01:23s, '''size:''' 21.6 MB, '''start date/time:''' Nov 16, 2017 1:50:22.18 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 01:20s, '''size:''' 21.0 MB, '''start date/time:''' Nov 16, 2017 12:52:18.44<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 01:09s, '''size:''' 18.1 MB, '''start date/time:''' Nov 16, 2017 12:53:51.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:21s, '''size:''' 21.3 MB, '''start date/time:''' Nov 16, 2017 12:55:31.81<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:07s, '''size:''' 232.4 MB, '''start date/time:''' Nov 28 2017 18:33:16.24<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:14s, '''size:''' 136.2 MB, '''start date/time:''' Nov 29 2017 13:12:42.61 <br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:39s, '''size:''' 71.5 MB, '''start date/time:''' Nov 22 2017 12:48:33.86 <br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:04s, '''size:''' 47.2 MB, '''start date/time:''' Nov 22 2017 12:59:08.58<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 28.8s, '''size:''' 7.7 MB, '''start date/time:''' Nov 28, 2017 17:17:46.49 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 31.9s, '''size:''' 8.4 MB, '''start date/time:''' Nov 28, 2017 17:20:48.26<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 28, 2017 17:20:05.96<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.9s, '''size:''' 7.9 MB, '''start date/time:''' Nov 28, 2017 17:19:26.36<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 30.8s, '''size:''' 8.1 MB, '''start date/time:''' Nov 28, 2017 17:21:20.55<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 16:05s, '''size:''' 246.6 MB, '''start date/time:''' Nov 22 2017 11:55:02.39<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:25s, '''size:''' 52.8 MB, '''start date/time:''' Nov 22 2017 13:08:11.99<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 01:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:55:26.25<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 1:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:56:52.47<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 50.2s, '''size:''' 13.1 MB, '''start date/time:''' Nov 16, 2017 11:44:00.10<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 58.2s, '''size:''' 15.1 MB, '''start date/time:''' Nov 22, 2017 11:48:35.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 01:05s, '''size:''' 16.9 MB, '''start date/time:''' Nov 22, 2017 11:49:48.18<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 01:14s, '''size:''' 19.2 MB, '''start date/time:''' Nov 22, 2017 11:51:22.68<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 06:17s, '''size:''' 96.3 MB, '''start date/time:''' Nov 22 2017 12:23:07.92<br /> <br /> ====Scenario 3. Bedroom====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a third environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 15:17s, '''size:''' 234.6 MB, '''start date/time:''' Nov 21, 2017 18:56:54.87<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Nov 28, 2017 17:37:34.08<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 44.7s, '''size:''' 11.7 MB, '''start date/time:''' Nov 21, 2017 13:16:51.65<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 39.9s, '''size:''' 10.5 MB, '''start date/time:''' Nov 21, 2017 19:19:06.27<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 41.2s, '''size:''' 10.8 MB, '''start date/time:''' Nov 21, 2017 19:18:06.86<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 01:01s, '''size:''' 16.0 MB, '''start date/time:''' Nov 21, 2017 19:21:30.99 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 01:01s, '''size:''' 15.9 MB, '''start date/time:''' Nov 21, 2017 19:25:38.00<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 58.0s, '''size:''' 15.1 MB, '''start date/time:''' Nov 21, 2017 19:27:16.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:00s, '''size:''' 15.8 MB, '''start date/time:''' Nov 21, 2017 19:29:39.28<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:11s, '''size:''' 233.0 MB, '''start date/time:''' Nov 28, 2017 19:05:20.19<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:03s, '''size:''' 133.6 MB, '''start date/time:''' Nov 26, 2017 13:24:25.64<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Nov 27, 2017 17:34:50.22<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:47s, '''size:''' 58.3 MB, '''start date/time:''' Nov 27, 2017 17:41:48.32<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 31.3s, '''size:''' 8.3 MB, '''start date/time:''' Nov 28, 2017 17:23:58.31 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 30.4s, '''size:''' 8.0 MB, '''start date/time:''' Nov 28, 2017 17:24:41.09<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 31.2s, '''size:''' 8.3 MB, '''start date/time:''' Nov 28, 2017 17:25:22.22<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 31.4s, '''size:''' 8.3 MB, '''start date/time:''' Nov 28, 2017 17:26:06.98<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 33.2s, '''size:''' 8.8 MB, '''start date/time:''' Nov 28, 2017 17:26:51.32<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 10:00s, '''size:''' 153.7 MB, '''start date/time:''' Nov 22, 2017 18:15:29.53<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 59.1 MB, '''start date/time:''' Nov 22, 2017 18:25:54.55<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 41.3s, '''size:''' 10.8 MB, '''start date/time:''' Nov 22, 2017 18:35:11.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 41.8s, '''size:''' 10.9 MB, '''start date/time:''' Nov 22, 2017 18:36:12.11<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 39.8s, '''size:''' 10.5 MB, '''start date/time:''' Nov 22, 2017 18:37:05.06<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 01:01s, '''size:''' 14.9 MB, '''start date/time:''' Nov 22, 2017 18:40:13.36<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 01:00s, '''size:''' 15.7 MB, '''start date/time:''' Nov 22, 2017 18:41:28.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 01:00s, '''size:''' 15.7 MB, '''start date/time:''' Nov 22, 2017 18:42:39.52<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 06:12s, '''size:''' 95.1 MB, '''start date/time:''' Nov 23, 2017 12:53:06.48</div> Carmen https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5195 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-12-01T14:45:27Z <p>Carmen: </p> <hr /> <div>&lt;blockquote style=&quot;background-color:#ffe;border:1px solid #fb0;padding:5px 10px&quot;&gt;SciCrunch! reference: '''Range-based people tracker classifiers Benchmark Dataset, RRID:SCR_015743.'''&lt;/blockquote&gt;<br /> <br /> This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0 [Nov-2017] ===<br /> <br /> ====Scenario 1. Kitchen====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Jul 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97<br /> <br /> <br /> ====Scenario 2. Living room====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a second environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 15:37s, '''size:''' 239.7 MB, '''start date/time:''' Nov 16, 2017 12:20:19.65<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:05s, '''size:''' 231.4 MB, '''start date/time:''' Nov 27, 2017 18:32:24.35 <br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 55.2s, '''size:''' 14.5 MB, '''start date/time:''' Nov 16, 2017 12:43:58.29 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 44.4s, '''size:''' 10.2 MB, '''start date/time:''' Nov 16, 2017 12:46:31.99<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 51.1s, '''size:''' 13.4 MB, '''start date/time:''' Nov 16, 2017 12:47:29.66<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 01:23s, '''size:''' 21.6 MB, '''start date/time:''' Nov 16, 2017 1:50:22.18 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 01:20s, '''size:''' 21.0 MB, '''start date/time:''' Nov 16, 2017 12:52:18.44<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 01:09s, '''size:''' 18.1 MB, '''start date/time:''' Nov 16, 2017 12:53:51.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:21s, '''size:''' 21.3 MB, '''start date/time:''' Nov 16, 2017 12:55:31.81<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:07s, '''size:''' 232.4 MB, '''start date/time:''' Nov 28 2017 18:33:16.24<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:14s, '''size:''' 136.2 MB, '''start date/time:''' Nov 29 2017 13:12:42.61 <br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:39s, '''size:''' 71.5 MB, '''start date/time:''' Nov 22 2017 12:48:33.86 <br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:04s, '''size:''' 47.2 MB, '''start date/time:''' Nov 22 2017 12:59:08.58<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 28.8s, '''size:''' 7.7 MB, '''start date/time:''' Nov 28, 2017 17:17:46.49 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 31.9s, '''size:''' 8.4 MB, '''start date/time:''' Nov 28, 2017 17:20:48.26<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 28, 2017 17:20:05.96<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.9s, '''size:''' 7.9 MB, '''start date/time:''' Nov 28, 2017 17:19:26.36<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 30.8s, '''size:''' 8.1 MB, '''start date/time:''' Nov 28, 2017 17:21:20.55<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 16:05s, '''size:''' 246.6 MB, '''start date/time:''' Nov 22 2017 11:55:02.39<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:25s, '''size:''' 52.8 MB, '''start date/time:''' Nov 22 2017 13:08:11.99<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 01:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:55:26.25<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 1:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:56:52.47<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 50.2s, '''size:''' 13.1 MB, '''start date/time:''' Nov 16, 2017 11:44:00.10<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 58.2s, '''size:''' 15.1 MB, '''start date/time:''' Nov 22, 2017 11:48:35.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 01:05s, '''size:''' 16.9 MB, '''start date/time:''' Nov 22, 2017 11:49:48.18<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 01:14s, '''size:''' 19.2 MB, '''start date/time:''' Nov 22, 2017 11:51:22.68<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 06:17s, '''size:''' 96.3 MB, '''start date/time:''' Nov 22 2017 12:23:07.92<br /> <br /> ====Scenario 3. Bedroom====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a third environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 15:17s, '''size:''' 234.6 MB, '''start date/time:''' Nov 21, 2017 18:56:54.87<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Nov 28, 2017 17:37:34.08<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag env3_test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Nov 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag env3_test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Nov 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag env3_test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Nov 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag env3_test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Nov 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag env3_test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Nov 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag env3_test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Nov 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag env3_test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Nov 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:11s, '''size:''' 233.0 MB, '''start date/time:''' Nov 28, 2017 19:05:20.19<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:03s, '''size:''' 133.6 MB, '''start date/time:''' Nov 26, 2017 13:24:25.64<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Nov 27, 2017 17:34:50.22<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:47s, '''size:''' 58.3 MB, '''start date/time:''' Nov 27, 2017 17:41:48.32<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag env3_test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Nov 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag env3_test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Nov 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag env3_test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag env3_test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Nov 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag env3_test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Nov 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 10:00s, '''size:''' 153.7 MB, '''start date/time:''' Nov 22, 2017 18:15:29.53<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 59.1 MB, '''start date/time:''' Nov 22, 2017 18:25:54.55<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag env3_test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Nov 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag env3_test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Nov 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag env3_test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Nov 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag env3_test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Nov 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag env3_test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Nov 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag env3_test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Nov 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 06:12s, '''size:''' 95.1 MB, '''start date/time:''' Nov 23, 2017 12:53:06.48</div> Carmen https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5194 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-12-01T14:32:47Z <p>Carmen: </p> <hr /> <div>&lt;blockquote style=&quot;background-color:#ffe;border:1px solid #fb0;padding:5px 10px&quot;&gt;SciCrunch! reference: '''Range-based people tracker classifiers Benchmark Dataset, RRID:SCR_015743.'''&lt;/blockquote&gt;<br /> <br /> This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0 [Nov-2017] ===<br /> <br /> ====Scenario 1. Kitchen====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Jul 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97<br /> <br /> <br /> ====Scenario 2. Living room====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a second environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 15:37s, '''size:''' 239.7 MB, '''start date/time:''' Nov 16, 2017 12:20:19.65<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:05s, '''size:''' 231.4 MB, '''start date/time:''' Nov 27, 2017 18:32:24.35 <br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 55.2s, '''size:''' 14.5 MB, '''start date/time:''' Nov 16, 2017 12:43:58.29 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 44.4s, '''size:''' 10.2 MB, '''start date/time:''' Nov 16, 2017 12:46:31.99<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 51.1s, '''size:''' 13.4 MB, '''start date/time:''' Nov 16, 2017 12:47:29.66<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 01:23s, '''size:''' 21.6 MB, '''start date/time:''' Nov 16, 2017 1:50:22.18 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 01:20s, '''size:''' 21.0 MB, '''start date/time:''' Nov 16, 2017 12:52:18.44<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 01:09s, '''size:''' 18.1 MB, '''start date/time:''' Nov 16, 2017 12:53:51.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:21s, '''size:''' 21.3 MB, '''start date/time:''' Nov 16, 2017 12:55:31.81<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:07s, '''size:''' 232.4 MB, '''start date/time:''' Nov 28 2017 18:33:16.24<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:14s, '''size:''' 136.2 MB, '''start date/time:''' Nov 29 2017 13:12:42.61 <br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:39s, '''size:''' 71.5 MB, '''start date/time:''' Nov 22 2017 12:48:33.86 <br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:04s, '''size:''' 47.2 MB, '''start date/time:''' Nov 22 2017 12:59:08.58<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 28.8s, '''size:''' 7.7 MB, '''start date/time:''' Nov 28, 2017 17:17:46.49 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 31.9s, '''size:''' 8.4 MB, '''start date/time:''' Nov 28, 2017 17:20:48.26<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 28, 2017 17:20:05.96<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.9s, '''size:''' 7.9 MB, '''start date/time:''' Nov 28, 2017 17:19:26.36<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 30.8s, '''size:''' 8.1 MB, '''start date/time:''' Nov 28, 2017 17:21:20.55<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 16:05s, '''size:''' 246.6 MB, '''start date/time:''' Nov 22 2017 11:55:02.39<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:25s, '''size:''' 52.8 MB, '''start date/time:''' Nov 22 2017 13:08:11.99<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 01:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:55:26.25<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 1:06s, '''size:''' 17.4 MB, '''start date/time:''' Nov 16, 2017 12:56:52.47<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 50.2s, '''size:''' 13.1 MB, '''start date/time:''' Nov 16, 2017 11:44:00.10<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 58.2s, '''size:''' 15.1 MB, '''start date/time:''' Nov 22, 2017 11:48:35.33<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 01:05s, '''size:''' 16.9 MB, '''start date/time:''' Nov 22, 2017 11:49:48.18<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 01:14s, '''size:''' 19.2 MB, '''start date/time:''' Nov 22, 2017 11:51:22.68<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 06:17s, '''size:''' 96.3 MB, '''start date/time:''' Nov 22 2017 12:23:07.92<br /> <br /> ====Scenario 3. Bedroom====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a third environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag env3_test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Nov 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag env3_test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Nov 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag env3_test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Nov 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag env3_test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Nov 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag env3_test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Nov 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag env3_test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Nov 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag env3_test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Nov 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag env3_test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Nov 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag env3_test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Nov 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag env3_test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Nov 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag env3_test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Nov 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag env3_test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Nov 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag env3_test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Nov 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag env3_test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Nov 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag env3_test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Nov 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag env3_test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag env3_test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Nov 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag env3_test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Nov 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag env3_test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Nov 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag env3_test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Nov 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag env3_test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Nov 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag env3_test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Nov 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag env3_test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Nov 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag env3_test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Nov 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag env3_test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Nov 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag env3_test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Nov 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag env3_test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Nov 25, 2017 11:10:32.97</div> Carmen https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5193 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-12-01T12:32:35Z <p>Carmen: </p> <hr /> <div>&lt;blockquote style=&quot;background-color:#ffe;border:1px solid #fb0;padding:5px 10px&quot;&gt;SciCrunch! reference: '''Range-based people tracker classifiers Benchmark Dataset, RRID:SCR_015743.'''&lt;/blockquote&gt;<br /> <br /> This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0 [Nov-2017] ===<br /> <br /> ====Scenario 1. Kitchen====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Jul 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97<br /> <br /> <br /> ====Scenario 2. Living room====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a second environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 15:37s, '''size:''' 239.7 MB, '''start date/time:''' Nov 16 2017 12:20:19.65<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:05s, '''size:''' 231.4 MB, '''start date/time:''' Nov 27 2017 18:32:24.35 <br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 55.2s, '''size:''' 14.5 MB, '''start date/time:''' Nov 16 2017 12:43:58.29 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 44.4s, '''size:''' 10.2 MB, '''start date/time:''' Nov 16 2017 12:46:31.99<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 51.1s, '''size:''' 13.4 MB, '''start date/time:''' Nov 16 2017 12:47:29.66<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag env2_test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Nov 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag env2_test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Nov 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag env2_test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Nov 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag env2_test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Nov 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:07s, '''size:''' 232.4 MB, '''start date/time:''' Nov 28 2017 18:33:16.24<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:14s, '''size:''' 136.2 MB, '''start date/time:''' Nov 29 2017 13:12:42.61 <br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:39s, '''size:''' 71.5 MB, '''start date/time:''' Nov 22 2017 12:48:33.86 <br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:04s, '''size:''' 47.2 MB, '''start date/time:''' Nov 22 2017 12:59:08.58<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag env2_test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Nov 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag env2_test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Nov 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag env2_test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag env2_test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Nov 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag env2_test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Nov 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 16:05s, '''size:''' 246.6 MB, '''start date/time:''' Nov 22 2017 11:55:02.39<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:25s, '''size:''' 52.8 MB, '''start date/time:''' Nov 22 2017 13:08:11.99<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag env2_test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Nov 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag env2_test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Nov 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag env2_test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Nov 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag env2_test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Nov 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag env2_test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Nov 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag env2_test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Nov 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 06:17s, '''size:''' 96.3 MB, '''start date/time:''' Nov 22 2017 12:23:07.92<br /> <br /> ====Scenario 3. Bedroom====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a third environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag env3_test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Nov 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag env3_test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Nov 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag env3_test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Nov 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag env3_test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Nov 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag env3_test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Nov 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag env3_test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Nov 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag env3_test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Nov 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag env3_test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Nov 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag env3_test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Nov 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag env3_test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Nov 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag env3_test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Nov 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag env3_test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Nov 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag env3_test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Nov 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag env3_test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Nov 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag env3_test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Nov 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag env3_test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag env3_test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Nov 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag env3_test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Nov 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag env3_test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Nov 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag env3_test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Nov 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag env3_test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Nov 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag env3_test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Nov 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag env3_test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Nov 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag env3_test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Nov 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag env3_test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Nov 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag env3_test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Nov 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag env3_test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Nov 25, 2017 11:10:32.97</div> Carmen https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5192 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-12-01T12:29:29Z <p>Carmen: </p> <hr /> <div>&lt;blockquote style=&quot;background-color:#ffe;border:1px solid #fb0;padding:5px 10px&quot;&gt;SciCrunch! reference: '''Range-based people tracker classifiers Benchmark Dataset, RRID:SCR_015743.'''&lt;/blockquote&gt;<br /> <br /> This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0 [Nov-2017] ===<br /> <br /> ====Scenario 1. Kitchen====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Jul 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97<br /> <br /> <br /> ====Scenario 2. Living room====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a second environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 15:37s, '''size:''' 239.7 MB, '''start date/time:''' Nov 16 2017 12:20:19.65<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:05s, '''size:''' 231.4 MB, '''start date/time:''' Nov 27 2017 18:32:24.35 <br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag env2_test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Nov 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag env2_test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Nov 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag env2_test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Nov 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag env2_test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Nov 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag env2_test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Nov 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag env2_test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Nov 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag env2_test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Nov 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:07s, '''size:''' 232.4 MB, '''start date/time:''' Nov 28 2017 18:33:16.24<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:14s, '''size:''' 136.2 MB, '''start date/time:''' Nov 29 2017 13:12:42.61 <br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:39s, '''size:''' 71.5 MB, '''start date/time:''' Nov 22 2017 12:48:33.86 <br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:04s, '''size:''' 47.2 MB, '''start date/time:''' Nov 22 2017 12:59:08.58<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag env2_test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Nov 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag env2_test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Nov 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag env2_test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag env2_test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Nov 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag env2_test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Nov 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag env2_test_10.bag]: '''duration:''' 16:05s, '''size:''' 246.6 MB, '''start date/time:''' Nov 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag env2_test_11.bag]: '''duration:''' 03:25s, '''size:''' 52.8 MB, '''start date/time:''' Nov 22 2017 13:08:11.99<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag env2_test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Nov 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag env2_test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Nov 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag env2_test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Nov 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag env2_test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Nov 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag env2_test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Nov 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag env2_test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Nov 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag env2_test_14.bag]: '''duration:''' 06:17s, '''size:''' 96.3 MB, '''start date/time:''' Nov 22 2017 12:23:07.92<br /> <br /> ====Scenario 3. Bedroom====<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a third environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag env3_test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Nov 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag env3_test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Nov 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag env3_test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Nov 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag env3_test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Nov 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag env3_test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Nov 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag env3_test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Nov 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag env3_test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Nov 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag env3_test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Nov 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag env3_test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Nov 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag env3_test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Nov 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag env3_test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Nov 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag env3_test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Nov 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag env3_test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Nov 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag env3_test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Nov 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag env3_test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Nov 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag env3_test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag env3_test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Nov 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag env3_test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Nov 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag env3_test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Nov 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag env3_test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Nov 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag env3_test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Nov 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag env3_test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Nov 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag env3_test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Nov 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag env3_test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Nov 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag env3_test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Nov 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag env3_test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Nov 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag env3_test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Nov 25, 2017 11:10:32.97</div> Carmen https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5191 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-12-01T11:21:28Z <p>Carmen: </p> <hr /> <div>&lt;blockquote style=&quot;background-color:#ffe;border:1px solid #fb0;padding:5px 10px&quot;&gt;SciCrunch! reference: '''Range-based people tracker classifiers Benchmark Dataset, RRID:SCR_015743.'''&lt;/blockquote&gt;<br /> <br /> This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0.0 [Jul-2017] ===<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Jul 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97<br /> <br /> <br /> === v1.0.1 [Nov-2017] ===<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a second environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag env2_test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Nov 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag env2_test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Nov 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag env2_test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Nov 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag env2_test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Nov 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag env2_test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Nov 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag env2_test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Nov 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag env2_test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Nov 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag env2_test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Nov 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag env2_test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Nov 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag env2_test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Nov 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag env2_test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Nov 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag env2_test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Nov 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag env2_test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Nov 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag env2_test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Nov 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag env2_test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Nov 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag env2_test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag env2_test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Nov 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag env2_test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Nov 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag env2_test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Nov 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag env2_test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Nov 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag env2_test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Nov 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag env2_test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Nov 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag env2_test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Nov 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag env2_test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Nov 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag env2_test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Nov 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag env2_test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Nov 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag env2_test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Nov 25, 2017 11:10:32.97<br /> <br /> === v1.0.2 [Nov-2017] ===<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released in a third environment shown at Fig. 3. It also includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_01.bag env3_test_01.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Nov 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_02.bag env3_test_02.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Nov 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_1.bag env3_test_03_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Nov 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_2.bag env3_test_03_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Nov 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_03_3.bag env3_test_03_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Nov 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_1.bag env3_test_04_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Nov 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_2.bag env3_test_04_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Nov 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_3.bag env3_test_04_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Nov 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_04_4.bag env3_test_04_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Nov 25, 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_05.bag env3_test_05.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Nov 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_06.bag env3_test_06.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Nov 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_07.bag env3_test_07.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Nov 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_08.bag env3_test_08.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Nov 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_1.bag env3_test_09_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:''' Nov 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_2.bag env3_test_09_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Nov 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_3.bag env3_test_09_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Nov 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_4.bag env3_test_09_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Nov 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_09_5.bag env3_test_09_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Nov 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_10.bag env3_test_10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Nov 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_11.bag env3_test_11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Nov 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_1.bag env3_test_12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Nov 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_2.bag env3_test_12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Nov 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_12_3.bag env3_test_12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Nov 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_1.bag env3_test_13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Nov 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_2.bag env3_test_13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Nov 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_13_3.bag env3_test_13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Nov 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/LegTracking/v1.0/test_14.bag env3_test_14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Nov 25, 2017 11:10:32.97</div> Carmen https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5098 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-09-29T09:15:11Z <p>Carmen: </p> <hr /> <div>This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0 ===<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-01/bag_1_Estat.bag Test1.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-02/bag_2_Estat.bag Test2.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-03/20-07-2017/2017-07-20-13-27-25.bag Test3_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-03/20-07-2017/2017-07-20-13-28-56.bag Test3_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-03/20-07-2017/2017-07-20-13-30-04.bag Test3_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-04/2017-07-25-10-39-52.bag Test4_1.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-04/2017-07-25-10-41-16.bag Test4_2.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-04/2017-07-25-10-42-44.bag Test4_3.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-04/2017-07-25-10-43-52.bag Test4_4.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-05/bag_5_Estat.bag Test5.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-06/bag_6_Estat.bag Test6.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-07/bag_7_Estat.bag Test7.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-08/bag_8_Estat.bag Test8.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-09/2017-07-25-10-50-02.bag Test9_1.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:'''Jul 25, 2017 10:50:02.95 <br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-09/2017-07-25-10-51-02.bag Test9_2.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-09/2017-07-25-10-51-45.bag Test9_3.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-09/2017-07-25-10-52-51.bag Test9_4.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-09/2017-07-25-10-54-00.bag Test9_5.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-10/bag_10_Estat.bag Test10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-11/bag_11_Estat.bag Test11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-12/20-07-2017/2017-07-20-13-33-23.bag Test12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-12/20-07-2017/2017-07-20-13-34-24.bag Test12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-12/20-07-2017/2017-07-20-13-35-31.bag Test12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-13/2017-07-25-11-01-15.bag Test13_1.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-13/2017-07-25-11-02-37.bag Test13_2.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-13/2017-07-25-11-04-30.bag Test13_3.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-14/bag_14_Estat.bag Test14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97</div> Carmen https://robotica.unileon.es/index.php?title=Benchmark_dataset_for_evaluation_of_range-based_people_tracker_classifiers_in_mobile_robots&diff=5097 Benchmark dataset for evaluation of range-based people tracker classifiers in mobile robots 2017-09-27T09:28:56Z <p>Carmen: </p> <hr /> <div>This data report summarizes a benchmark dataset which can be used to evaluate the performance of different approaches for detecting and tracking people by using lidar sensors. Information contained at the dataset is specially suitable to be used as training data for neural network-based classifiers. Data have been gathered in an indoor mock-up apartment, shown in Fig 1 (B), located at the Robotics Lab of the University of León (Spain). An autonomous robot, called Orbi-One and shown in Fig 1 (A), with an on-board Real Time Location System (RTLS) was used to gather the data.<br /> <br /> == Materials ==<br /> <br /> Data gathered by Orbi-One robot include: <br /> * Lidar sensor measures. <br /> * Location estimates from two people trackers: '''ROS-LD''' and '''PeTra'''. <br /> * People location provided by a commercial RTLS, called '''KIO''', which can be used as ground-truth.<br /> * Some other useful data gathered by the Orbi-One robot such as map information, odometry, and transform data.<br /> <br /> Additional information about Orbi-One and the devices/packages used to get data is given below.<br /> <br /> === Orbi-one ===<br /> <br /> Orbi-One, shown at Fig 1 (A), is an assistant robot manufactured by [http://www.robotnik.es/manipuladores-roboticos-moviles/rb-one/ Robotnik]. The software to control the robot hardware is based on [http://www.ros.org/ ROS].<br /> <br /> [[File:PeopleTrackingFig1.png|frame|center|'''Fig. 1''': From left to right: (A) Orbi-One carrying KIO tag and a KIO anchor attached in the ceiling; (B) tobotics mobile lab plane, red dots show the location of KIO anchors; (C) occupancy map generated using lidar sensor measures; and (D) Network output.]]<br /> <br /> === KIO RTLS ===<br /> <br /> KIO RTLS commercial solution by [https://www.eliko.ee/products/kio-rtls/ Eliko] has been used to provide people location at the study area.<br /> <br /> === ROS Leg Detector (ROS-LD) ===<br /> <br /> ROS-LD is a ROS package which takes messages published by a lidar sensor as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. The code is available in a public [http://wiki.ros.org/leg_detector repository], but is unsupported at this time.<br /> <br /> === PeTra ===<br /> <br /> PeTra is a people tracker tool for detecting and tracking people developed by the Robotics Group from the University of León.<br /> <br /> == Recording procedure ==<br /> <br /> The data were gathered under 14 different scenarios. In all of them, Orbi-One was standing still as one or more people, carrying a KIO tag, moved around him. Fig. 2 shows the 14 different recognition scenarios recorded. These scenarios have been chosen according to different situations that may occurs on robotics competitions such as [https://www.eu-robotics.net/robotics_league/ ERL] or [http://www.robocup.org/ RoboCup].<br /> <br /> <br /> [[File:PeopleTrackingFig2.png|frame|center|'''Fig. 2''': recognition scenarios recorded.]]<br /> <br /> == Data ==<br /> <br /> A rosbag file was created for each scenario (3 for scenarios 3 and 12), recording lidar sensor measures, location estimates from PeTra and ROS-LD, locations from KIO RTLS and other useful data. Specifically, the following data were included in the rosbag files:<br /> <br /> * Laser sensor messages (''sensor\_msgs/LaserScan'') published at the ''/scan'' topic.<br /> * Location estimates calculated by PeTra published at the ''/person'' topic.<br /> * Location estimates calculated by ROS-LD at the ''/people\_tracker\_measurements'' topic.<br /> * Location estimates calculated by the KIO RTLS published at the ''/kio/PointStamped/4037/out'' topic. <br /> * Messages from the ''/map'', ''/odom'', and ''/tf'' topics which includes map information, odometry of the robot base, and transform information respectively.<br /> <br /> Differents versions of the dataset are enumerated below.<br /> <br /> === v1.0 ===<br /> <br /> As a result of applying the recording method explained above, a first version of the dataset have been released. It includes measures for the scenarios defined at Fig. 2.:<br /> <br /> * Scenario 01 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-01/bag_1_Estat.bag Test1.bag]: '''duration:''' 14:56s, '''size:''' 227.8 MB, '''start date/time:''' Jul 20, 2017 12:49:21.16<br /> <br /> * Scenario 02 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-02/bag_2_Estat.bag Test2.bag]: '''duration:''' 15:08s, '''size:''' 233.0 MB, '''start date/time:''' Jul 26, 2017 11:01:24.72<br /> <br /> * Scenario 03 (3 files):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-03/20-07-2017/2017-07-20-13-27-25.bag Test3_1.bag]: '''duration:''' 39.9s, '''size:''' 10.4 MB, '''start date/time:''' Jul 20, 2017 13:27:25.50<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-03/20-07-2017/2017-07-20-13-28-56.bag Test3_2.bag]: '''duration:''' 39.1s, '''size:''' 10.2 MB, '''start date/time:''' Jul 20, 2017 13:28:56.41<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-03/20-07-2017/2017-07-20-13-30-04.bag Test3_3.bag]: '''duration:''' 40.5s, '''size:''' 10.5 MB, '''start date/time:''' Jul 20, 2017 13:30:04.94<br /> <br /> * Scenario 04 (4 files):<br /> # [Test4_1_.bag]: '''duration:''' 58.3s, '''size:''' 15.0 MB, '''start date/time:''' Jul 25, 2017 10:39:52.62 <br /> # [Test4_2_.bag]: '''duration:''' 57.2s, '''size:''' 14.7 MB, '''start date/time:''' Jul 25, 2017 10:41:16.31<br /> # [Test4_3_.bag]: '''duration:''' 50.5s, '''size:''' 13.0 MB, '''start date/time:''' Jul 25, 2017 10:42:44.95<br /> # [Test4_4_.bag]: '''duration:''' 1:01s, '''size:''' 15.7 MB, '''start date/time:''' Jul 25 2017 10:43:52.44<br /> <br /> * Scenario 05 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-05/bag_5_Estat.bag Test5.bag]: '''duration:''' 15:15s, '''size:''' 236.8 MB, '''start date/time:''' Jul 26, 2017 11:33:13.31<br /> <br /> * Scenario 06 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-06/bag_6_Estat.bag Test6.bag]: '''duration:''' 09:18s, '''size:''' 143.3 MB, '''start date/time:''' Jul 26, 2017 12:25:45.12<br /> <br /> * Scenario 07 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-07/bag_7_Estat.bag Test7.bag]: '''duration:''' 4:16s, '''size:''' 65.1 MB, '''start date/time:''' Jul 25, 2017 11:40:01.65<br /> <br /> * Scenario 08 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-08/bag_8_Estat.bag Test8.bag]: '''duration:''' 03:39s, '''size:''' 55.8 MB, '''start date/time:''' Jul 25, 2017 12:25:29.22<br /> <br /> * Scenario 09 (5 files):<br /> # [Test9_1_.bag]: '''duration:''' 22.9s, '''size:''' 6.1 MB, '''start date/time:'''Jul 25, 2017 10:50:02.95 <br /> # [Test9_2_.bag]: '''duration:''' 20.8s, '''size:''' 5.6 MB, '''start date/time:''' Jul 25, 2017 10:51:02.62<br /> # [Test9_3_.bag]: '''duration:''' 34.3s, '''size:''' 9.0 MB, '''start date/time:''' Jul 25, 2017 10:51:45.96 <br /> # [Test9_4_.bag]: '''duration:''' 29.3s, '''size:''' 7.9 MB, '''start date/time:''' Jul 25, 2017 10:52:51.24<br /> # [Test9_5_.bag]: '''duration:''' 36.9s, '''size:''' 9.7 MB, '''start date/time:''' Jul 25, 2017 10:54:00.13<br /> <br /> * Scenario 10 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-10/bag_10_Estat.bag Test10.bag]: '''duration:''' 15:50s, '''size:''' 240.5 MB, '''start date/time:''' Jul 20, 2017 13:07:40.16<br /> <br /> * Scenario 11 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-11/bag_11_Estat.bag Test11.bag]: '''duration:''' 03:50s, '''size:''' 58.7 MB, '''start date/time:''' Jul 25, 2017 11:48:33.90<br /> <br /> * Scenario 12 (3 files):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-12/20-07-2017/2017-07-20-13-33-23.bag Test12_1.bag]: '''duration:''' 43.6s, '''size:''' 11.3 MB, '''start date/time:''' Jul 20, 2017 13:33:23.74<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-12/20-07-2017/2017-07-20-13-34-24.bag Test12_2.bag]: '''duration:''' 44.3s, '''size:''' 11.5 MB, '''start date/time:''' Jul 20, 2017 13:34:24.95<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-12/20-07-2017/2017-07-20-13-35-31.bag Test12_3.bag]: '''duration:''' 37.3s, '''size:''' 9.7 MB, '''start date/time:''' Jul 20, 2017 13:35:31.55<br /> <br /> * Scenario 13 (3 files):<br /> # [Test13_1_.bag]: '''duration:''' 57.8s, '''size:''' 14.9 MB, '''start date/time:''' Jul 25, 2017 11:01:15.23<br /> # [Test13_2_.bag]: '''duration:''' 59.9s, '''size:''' 15.4 MB, '''start date/time:''' Jul 25, 2017 11:02:37.85<br /> # [Test13_3_.bag]: '''duration:''' 54.0s, '''size:''' 13.9 MB, '''start date/time:''' Jul 25, 2017 11:04:30.69<br /> <br /> * Scenario 14 (1 file):<br /> # [http://robotica.unileon.es/~datasets/rosbags/v1.0/Prueba-14/bag_14_Estat.bag Test14.bag]: '''duration:''' 05.57s, '''size:''' 90.5 MB, '''start date/time:''' Jul 25, 2017 11:10:32.97</div> Carmen https://robotica.unileon.es/index.php?title=Datasets&diff=5075 Datasets 2017-09-15T08:24:44Z <p>Carmen: </p> <hr /> <div>'''Available datasets'''<br /> <br /> This page offers a public repository with different datasets collected by the Robotics Group of the University of León.<br /> <br /> # [[People vs. Leg_detector]]</div> Carmen https://robotica.unileon.es/index.php?title=Datasets&diff=5054 Datasets 2017-07-28T09:53:33Z <p>Carmen: Created page with &quot;'''Available datasets''' # People vs. Leg_detector&quot;</p> <hr /> <div>'''Available datasets'''<br /> # [[People vs. Leg_detector]]</div> Carmen