DOI: 10.5281/zenodo.3901564
title: Robot@Home, a robotic dataset for semantic mapping of home environments

description: The Robot-at-Home dataset (<strong>Robot@Home</strong>, paper here) is a collection of raw and processed data from five domestic settings compiled by a mobile robot equipped with 4 RGB-D cameras and a 2D laser scanner. Its main purpose is to serve as a testbed for semantic mapping algorithms through the categorization of objects and/or rooms. This dataset is unique in three aspects: The provided data were captured with a rig of 4 RGB-D sensors with an overall field of view of 180°H. and 58°V., and with a 2D laser scanner. It comprises diverse and numerous data: <em>sequences of RGB-D images and laser scans</em> from the rooms of five apartments (87,000+ observations were collected), <em>topological information</em> about the connectivity of these rooms, and <em>3D reconstructions</em> and <em>2D geometric maps</em> of the visited rooms. The provided ground truth is dense, including <em>per-point annotations</em> of the categories of the objects and rooms appearing in the reconstructed scenarios, and <em>per-pixel annotations</em> of each RGB-D image within the recorded sequences During the data collection, a total of 36 rooms were completely inspected, so the dataset is rich in contextual information of objects and rooms. This is a valuable feature, missing in most of the state-of-the-art datasets, which can be exploited by, for instance, semantic mapping systems that leverage relationships like <em>pillows are usually on beds</em> or <em>ovens are not in bathrooms</em>.
description: This work was supported by the Spanish projects "IRO: Improvement of the sensorial and autonomous capability of robots through olfaction" (2012-TEP-530), "PROMOVE: Advances in mobile robotics for promoting independent life of elders" (DPI2014-55826-R), and "WISER: Building and exploiting semantic maps by mobile robots" (DPI2017-84827-R), the European project "MoveCare: Multiple-actors virtual empathic caregiver for the elder" (Call: H2020-ICT-2016-1, contract number: 732158) and by a postdoc contract from the I-PPIT from the University of Malaga.
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