THÖR: Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset

Andrey Rudenko*, Tomasz P. Kucner, Chittaranjan S. Swaminathan, Ravi T. Chadalavada, Kai O. Arras, Achim J. Lilienthal

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review


Understanding human behavior is key for robots and intelligent systems that share a space with people. Accordingly, research that enables such systems to perceive, track, learn and predict human behavior as well as to plan and interact with humans has received increasing attention over the last years. The availability of large human motion datasets that contain relevant levels of difficulty is fundamental to this research. Existing datasets are often limited in terms of information content, annotation quality or variability of human behavior. In this article, we present THOR, a new dataset with human motion trajectory and eye gaze data collected in an indoor environment with accurate ground truth for position, head orientation, gaze direction, social grouping, obstacles map and goal coordinates. THOR also contains sensor data collected by a 3D lidar and involves a mobile robot navigating the space. We propose a set ofmetrics to quantitatively analyze motion trajectory datasets such as the average tracking duration, ground truth noise, curvature and speed variation of the trajectories. In comparison to prior art, our dataset has a larger variety in human motion behavior, is less noisy, and contains annotations at higher frequencies.

Original languageEnglish
Pages (from-to)676-682
Number of pages7
JournalIEEE Robotics and Automation Letters
Issue number2
Publication statusPublished - Apr 2020
MoE publication typeA1 Journal article-refereed


  • Human detection and tracking
  • motion and path planning
  • social human-robot interaction

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