Most existing robotic datasets capture static scene data and thus are limited in evaluating robots' dynamic performance. To address this, we present a mobile robot oriented large-scale indoor dataset, denoted as THUD (Tsinghua University Dynamic) robotic dataset, for training and evaluating their dynamic scene understanding algorithms. Specifically, the THUD dataset construction is first detailed, including organization, acquisition, and annotation methods. It comprises both real-world and synthetic data, collected with a real robot platform and a physical simulation platform, respectively. Our current dataset includes 13 larges-scale dynamic scenarios, 90K image frames, 20M 2D/3D bounding boxes of static and dynamic objects, camera poses, and IMU. The dataset is still continuously expanding. Then, the performance of mainstream indoor scene understanding tasks, e.g. 3D object detection, semantic segmentation, and robot relocalization, is evaluated on our THUD dataset. These experiments reveal serious challenges for some robot scene understanding tasks in dynamic scenes. By sharing this dataset, we aim to foster and iterate new mobile robot algorithms quickly for robot actual working dynamic environment, i.e. complex crowded dynamic scenes.
@article{arxiv.2406.19791,
title = {Mobile Robot Oriented Large-Scale Indoor Dataset for Dynamic Scene Understanding},
author = {Yifan Tang and Cong Tai and Fangxing Chen and Wanting Zhang and Tao Zhang and Xueping Liu and Yongjin Liu and Long Zeng},
journal= {arXiv preprint arXiv:2406.19791},
year = {2024}
}
Comments
This version has been accepted by ICRA2024 and the dataset has been published, where the link can be found in the paper