3D point cloud and RGBD of pedestrians in robot crowd navigation: detection and tracking

Diego Paez-Granados, Yujie He, David Gonon, Lukas Huber, Aude Billard

The current dataset – crowdbot – presents outdoor pedestrian tracking from onboard sensors on a personal mobility robot navigating in crowds. The robot Qolo, a personal mobility vehicle for people with lower-body impairments was equipped with a reactive navigation control operating in shared-control or autonomous mode when navigating on three different streets of the city of Lausanne, Switzerland during farmer’s market days and Christmas market. Full Dataset here: DOI:10.21227/ak77-d722

DOI Link:

10.21227/ak77-d722

Links:

Pedestrian-Robot Interaction on Crowd Navigation: Reactive Control Methods and Evaluation

Dataset evaluation, analysis and visualisation tools

People detection code and visualisation

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NPY - Full dataset with all LIDAR, metadata, and processed data
Example-1: Metadata from 13 recordings of shared control navigation on a dense crowd (1 ppsm)
Example-1:Raw 3D LIDAR (x2) data
Example-2: Raw 3D LIDAR (x2) data
Example-2: Metadata from 2 recordings during manual driving in a dense crowd
Onboard_RGBD_video (x2)
rosbags_25_03_rds no_rbgd
rosbags_25_03_sc no_rbgd
rosbags_27_03_sc no_rbgd
rosbags_10_04_mds no_rbgd
rosbags_10_04_rds no_rbgd
rosbags_10_04_sc no_rbgd
rosbags_24_04_mds no_rbgd
rosbags_24_04_rds no_rbgd
rosbags_24_04_sc no_rbgd
rosbags_03_12_manual no_rbgd
rosbags_03_12_sc no_rbgd
rosbags_03_12_manual-rgbd_defaced
rosbags_10_04_sc-rgbd_defaced
rosbags_10_04_mds-rgbd_defaced
rosbags_25_03_sc-rgbd_defaced
rosbags_24_04_sc-rgbd_defaced
rosbags_24_04_mds-rgbd_defaced

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[1] Diego Paez-Granados, Yujie He, David Gonon, Lukas Huber, Aude Billard, "3D point cloud and RGBD of pedestrians in robot crowd navigation: detection and tracking", IEEE Dataport, 2021. [Online]. Available: http://dx.doi.org/10.21227/ak77-d722. Accessed: Feb. 10, 2025.

@data{ak77-d722-21,
doi = {10.21227/ak77-d722},
url = {http://dx.doi.org/10.21227/ak77-d722},
author = {Diego Paez-Granados; Yujie He; David Gonon; Lukas Huber; Aude Billard },
publisher = {IEEE Dataport},
title = {3D point cloud and RGBD of pedestrians in robot crowd navigation: detection and tracking},
year = {2021} }

TY - DATA
T1 - 3D point cloud and RGBD of pedestrians in robot crowd navigation: detection and tracking
AU - Diego Paez-Granados; Yujie He; David Gonon; Lukas Huber; Aude Billard
PY - 2021
PB - IEEE Dataport
UR - 10.21227/ak77-d722
ER -

Diego Paez-Granados, Yujie He, David Gonon, Lukas Huber, Aude Billard. (2021). 3D point cloud and RGBD of pedestrians in robot crowd navigation: detection and tracking. IEEE Dataport. http://dx.doi.org/10.21227/ak77-d722

Diego Paez-Granados, Yujie He, David Gonon, Lukas Huber, Aude Billard, 2021. 3D point cloud and RGBD of pedestrians in robot crowd navigation: detection and tracking. Available at: http://dx.doi.org/10.21227/ak77-d722.

Diego Paez-Granados, Yujie He, David Gonon, Lukas Huber, Aude Billard. (2021). "3D point cloud and RGBD of pedestrians in robot crowd navigation: detection and tracking." Web.

1. Diego Paez-Granados, Yujie He, David Gonon, Lukas Huber, Aude Billard. 3D point cloud and RGBD of pedestrians in robot crowd navigation: detection and tracking [Internet]. IEEE Dataport; 2021. Available from : http://dx.doi.org/10.21227/ak77-d722

Diego Paez-Granados, Yujie He, David Gonon, Lukas Huber, Aude Billard. "3D point cloud and RGBD of pedestrians in robot crowd navigation: detection and tracking." doi: 10.21227/ak77-d722

Dataset Files