3D Point Cloud People Dataset

Annotated people and tracks in 3D Velodyne data



This dataset contains 100+ RGB-D frames acquired in downtown Zurich, Switzerland. The first data set, named Polyterrasse, has been collected in a large area in the front of the ETH Zurich main building (Switzerland), accessible only to people and bicycles. The second data set, named Tannenstrasse, has been collected on a busy street crossing in downtown Zurich with trams, cars, pedestrians, or bicycles.
>> Both detections and tracks are annotated


If you are considering using this data, please reference the following:
  • [1] L. Spinello, K. O. Arras, R. Triebel and R. Siegwart A Layered Approach to People Detection in 3D Range Data. Proc. of The AAAI Conference on Artificial Intelligence (AAAI), 2010.
  • [2] L. Spinello, M. Luber and and K. O. Arras Tracking People in 3D Using a Bottom-Up Top-Down Detector. IEEE Int. Conf. on Robotics and Automation (ICRA), 2011.

The dataset can be download from http://www.informatik.uni-freiburg.de/~spinello/sw/pcloud_people.tar.gz

Sensory Setup

A Velodyne HDL 64E S2 sensor has been used to acquire data. It rotates with a frequency of 5Hz at a maximum range limited to 20m. This produces around 120,000 points per 3D scan.

Point Cloud Format

Each point cloud is saved as a separate file with .ezd extension ((e.g.: ts2_sliced0000.ezd). It is a text file with four columns, indicating the position of a scanned point in space: X, Y, Z, velodyne layer.

Detection Annotation Format

Each frame (e.g.: ts2_sliced0000.ezd) is annotated in a file named as the frame but with extension .bbox (e.g: ts2_sliced0000.ezd.bbox). It is a text file in which each line represents a person annotation. Each line has seven columns:
X,Y,Z: center of the 3D bounding box
W,D,H: size of the 3D bounding box
VSB: [0 = visible, 1 = partially visible]

Tracking Annotation Format

Each annotated track is defined in a file (e.g: ts2_slicedT0001.track). The content of a track file is as following:
NFILE: point cloud frame name
X,Y,Z: center of the track in 3D

Copyright and License Information

Creative Commons License
Copyright (c) 2011 Luciano Spinello, Matthias Luber, Rudolph Triebel and Kai O. Arras
This work is licensed under a Creative Commons Attribution-Noncommercial-Share Alike 3.0 Unported License.

This dataset is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.