RT Journal Article
T1 Robot@Home, a robotic dataset for semantic mapping of home environments
A1 Ruiz-Sarmiento, J. R.
A1 Galindo, C.
A1 Gonzalez-Jimenez, J.
K1 Benchmark
K1 contextual information
K1 domestic robots
K1 home environment
K1 mobile robots
K1 object categorization
K1 recognition
K1 robotic dataset
K1 room categorization
K1 recognition
K1 semantic mapping
K1 Object recognition
K1 Database
K1 Localization
AB This paper presents the Robot-at-Home dataset (Robot@Home), a collection of raw and processed sensory data from domestic settings aimed at serving as a benchmark for semantic mapping algorithms through the categorization of objects and/or rooms. The dataset contains 87,000+ time-stamped observations gathered by a mobile robot endowed with a rig of four RGB-D cameras and a 2D laser scanner. Raw observations have been processed to produce different outcomes also distributed with the dataset, including 3D reconstructions and 2D geometric maps of the inspected rooms, both annotated with the ground truth categories of the surveyed rooms and objects. The proposed dataset is particularly suited as a testbed for object and/or room categorization systems, but it can be also exploited for a variety of tasks, including robot localization, 3D map building, SLAM, and object segmentation. Robot@Home is publicly available for the research community at http://mapir.isa.uma.es/work/robot-at-home-dataset.
PB Sage publications ltd
SN 0278-3649
YR 2017
FD 2017-02-01
LK http://hdl.handle.net/10668/19094
UL http://hdl.handle.net/10668/19094
LA en
DS RISalud
RD Apr 7, 2025