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2D-people-detection-dataset

8465 frames of labled 2d lidar data of people walking indoors.

More Info

Vertex Color Label
Green People
Magenta Enviroment
Red Lidar Location

Specs

  • Ecach frame has 897 lidar points for 360 degrees for a resoltuion of 0.40133 degrees (0.007 rad)
  • 7 Scenes cointaing 8465 frames at ~10Hz for a total duration of 14 minutes
  • Recored with a VLP-16 Lidar that is 35cm off of the floor
  • Each Scene has 4 folders (EMPTY, PEOPLE, ENVIROMENT, BOTH) with a series of point cloud files
  • Empty -> No people, just the static enviroment - 10+ frames are included to deal with Lidar noise
  • Both -> The lidar in the same locaiton but now people are walking through the enviroment
  • People -> A subset of 'Both' where only points labled as people are included (occationaly there are PCD files with 0 points)
  • Enviroment -> A subset of 'Both' where only points labled as the enviroment are included

Dataset highlights visualized (Youtube Video)

Video of dataset

About

Velodyne VLP16 labeled 2d lidar dataset of crowds at WPI

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