D.6.2. Datasets for benchmarking

The for the datasets is the one designed in the project with a simple aluminum structure to place the sensors and the computer:

• • A stereo camera facing forward at 1.2m height.
• • A inertial sensor (Xsens MTI-G) in the robot's centre of rotation.
• • Two Hokuyo UTM-30LX placed parallel to the floor facing forward and backwards.
• • A Hokuyo URG-04LX tilted 30º in front of the robot.
• • Encoders in the robot base for odometry computation.

Each dataset is stored separately in three files: one for sensors measurements, other for images and a third one with the extracted transformation between the robot and the map, so that you can run your own localization algorithms if it is requiered. All the datasets are logged and also processed using ROS tools, such as the ROS Bag. The different information stored into the logs also follows ROS interfaces and development main guidelines, so that the reader can understand easily the dataset with minimum ROS background.

The three log files per dataset contain the following information:

• Only for the FROG robot plattform:


• • Robot Odometry
• • Laser Measurements
• • Tranformations between Sensors
• • Transformation between Odometry and Map (for Localization)
• • Camera Info
• • Compressed Images
• • Disparity Images

• Only for the Pioneer 3AT robot plattform:


• • Robot Odometry
• • Laser Measurements
• • Tranformations between Sensors
• • Camera Info
• • Raw RGB Images
• • Rectified Images

We present a novel set of data for the evaluation of visual place recognition in both indoors and outdoors environment in addition to sensor information to evaluate human-robot interactions in crowded areas. The datasets were recorded in the Royal Alcázar of Seville (Spain) and in the Lisbon City Zoo (Portugal). We recorded a large set of images sequences from different stereo camera systems and scan measurements from three laser mounted on both moving robots. The datasets are timestamped and stored by means of the well-known Robot Operating System (ROS) log functionality.

At the Alcázar of Seville, the FROG and the Pioneer 3AT robots traveled more than one kilometer in each experiment, and every trial was performed at different time of the day so we could capture the evolution of lighting conditions over the images. The tourist attendance also depends on the hour, providing datasets with a lot of examples to model into a social-way the different places such as corridors, gates, queues, groups of people, etc.

At the Lisbon City Zoo, only the FROG robot bags are provided. In this case, in addition to the general sensors measurements commented yet, we include person detection topics based on the stereo pair.

The datasets presented in this work represent a valuable set of images and range measurements that could be used to the comprehension of several human-robot behaviours or interactions.