The data recording was performed by a Pioneer 3-AT mobile robot equipped with the Velodyne VLP-16 at an approximate height of 0.8 meters.
During the data collection, the robot remained stationary in a T-shaped junction, which allowed its sensors to scan the three connecting corridors simultaneously, covering a total area of around 75 m².
The data collection was performed during ~10/12 hour-long sessions starting before the usual working hours (usually from ~08:00 to ~20:00).
The resulting dataset is composed of 14 data-gathering sessions recorded over the span of four weeks.
A typical session contains approximately 30000 detections (at 0.5 Hz) of people walking in the monitored corridor.
Days recorded: 23,24,25,26,30,31 May 2017 – 1,6,7,8 June 2017 – 8,17,18,19 July 2017
Data structure: time (unixtime), – , person id, position x [m], position y [m], – , angle of motion [rad].
Download data: here