News and Announcements
9/12 - 2D and 3D detection benchmarks open for submission! Submit here.
9/4 - 2D and 3D tracking benchmarks open for submission! Submit here.
8/22 - Dataset released! Download train and test splits.
Key Dataset Features and Novelties
Crowded sequences: Some sequences include up to 260 annotated persons
Novel environments: The dataset includes both indoor and outdoor environments. This is the first large dataset with annotated indoor scenes. In outdoor scenes our dataset is acquired from a pedestrian perspective (e.g. from curbs) instead of from a vehicle perspective.
Novel perspective: The data is acquired from a robot platform of human-comparable size and therefore it is similar to the egocentric view of a person. This creates scenarios with multiple occlusions and poses a significant challenge for detection, tracking and other perception tasks.
Stationary and dynamic sensor perspectives: The sequences present a combination of sensor signals acquired from stationary and moving robot perspectives.
Multi-modal sensor streams: Appart from multiple RGB and Lidar signals our dataset included RGBD images, GPS signals, IMU measurements, odometry values, and audio recordings.