DOI: 10.5281/zenodo.3901563
title: Robot@Home2, a robotic dataset of home environments

description: The Robot-at-Home dataset (Robot@Home, 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: sequences of RGB-D images and laser scans from the rooms of five apartments (87,000+ observations were collected), topological information about the connectivity of these rooms, and 3D reconstructions and 2D geometric maps of the visited rooms.

The provided ground truth is dense, including per-point annotations of the categories of the objects and rooms appearing in the reconstructed scenarios, and per-pixel annotations 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 pillows are usually on beds or ovens are not in bathrooms.

Robot@Home2

Robot@Home2, is an enhanced version aimed at improving usability and functionality for developing and testing mobile robotics and computer vision algorithms. It consists of three main components. Firstly, a relational database that states the contextual information and data links, compatible with Standard Query Language. Secondly,a Python package for managing the database, including downloading, querying, and interfacing functions. Finally, learning resources in the form of Jupyter notebooks, runnable locally or on the Google Colab platform, enabling users to explore the dataset without local installations. These freely available tools are expected to enhance the ease of exploiting the Robot@Home dataset and accelerate research in computer vision and robotics.

If you use Robot@Home2, please cite the following paper:

Gregorio Ambrosio-Cestero, Jose-Raul Ruiz-Sarmiento, Javier Gonzalez-Jimenez, The Robot@Home2 dataset: A new release with improved usability tools, in SoftwareX, Volume 23, 2023, 101490, ISSN 2352-7110, https://doi.org/10.1016/j.softx.2023.101490.

@article{ambrosio2023robotathome2,title = {The Robot@Home2 dataset: A new release with improved usability tools},author = {Gregorio Ambrosio-Cestero and Jose-Raul Ruiz-Sarmiento and Javier Gonzalez-Jimenez},journal = {SoftwareX},volume = {23},pages = {101490},year = {2023},issn = {2352-7110},doi = {https://doi.org/10.1016/j.softx.2023.101490},url = {https://www.sciencedirect.com/science/article/pii/S2352711023001863},keywords = {Dataset, Mobile robotics, Relational database, Python, Jupyter, Google Colab}} 

Version historyv1.0.1 Fixed minor bugs.v1.0.2  Fixed some inconsistencies in some directory names. Fixes were necessary to automate the generation of the next version.v2.0.0 SQL based dataset. Robot@Home v1.0.2 has been packed into a sqlite database along with RGB-D and scene files which have been assembled into a hierarchical structured directory free of redundancies. Path tables are also provided to reference files in both v1.0.2 and v2.0.0 directory hierarchies. This version has been automatically generated from version 1.0.2 through the toolbox.v2.0.1 A forgotten foreign key pair have been added.v.2.0.2 The views have been consolidated as tables which allows a considerable improvement in access time.v.2.0.3 The previous version does not include the database. In this version the database has been uploaded.v.2.1.0 Depth images have been updated to 16-bit. Additionally, both the RGB images and the depth images are oriented in the original camera format, i.e. landscape.
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.