HuRoN dataset

Dataset

Download HuRoN dataset

We collected the HuRoN dataset over the course of 24 days in 5 diverse environments, spread across 3 university buildings by HuRoN system. The dataset spans 75 hours and 58 kilometers of autonomous robot navigation trajectories, containing over 4000 interactions with humans. The dataset includes the following sensor signals:

• Spherical camera image (Ricoh Theta S),

• Fisheye camera image (170 degree FOV) camera intrinsic parameters and calibration data,

• 2D point clouds by 2D LiDAR (RPLiDAR S1), and 

• Wheel odometry.

And, we give the following estimated or generated valuables:

• Estimated depth from spherical camera image,

• Panoramized image from spherical camera image,

• Boundary box and ID number for pedestrians by YOLOV5 and DeepSORT,

• Estimated pedestrians 2D position by YOLOV5, DeepSORT and estimated depth, and

• Relative pose and ID number of AR marker by ALVAR.

Note that we publish low resolutional images due to privacy issues. However, it is the same image size our control policy uses. We publish the dataset, which was collected throughout our whole project. Hence, one half of HuRoN dataset is collected by the control policy without the interaction loss, and the other half is collected with the interaction loss.

Instruction for visualization on RViz

To reduce the file size, we save the images as "CompressedImage" messages in our rosbag files. So, please follow these steps to see our images on RVIZ. Here is a helpful link! 

1. roscore (in new terminal)

2. rviz (in new terminal)

3. rosbag play xxxxxx.bag (in new terminal)https://ieeexplore.ieee.org/document/10160761

4. add an "Image" from display tab (in RViz)

5. directly type the target topic name in "Image Topic" tab (in RViz)

Our topic name is defined as "/yyyyyy/compressed". Please remove "/compressed" and only type "/yyyyyy". 

6. select "compressed" from the dropdown of "Image Hint" (in RViz)

License

The MIT License

Copyright 2023 Noriaki Hirose and others

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.