TY  - JOUR
ID  - raul2017ijrr
T1  - Robot@Home, a robotic dataset for semantic mapping of home environments
A1  - Ruiz-Sarmiento, J. R.
A1  - Galindo, Cipriano
A1  - Gonzalez-Jimenez, Javier
JA  - The International Journal of Robotics Research
Y1  - 2017
VL  - 36
IS  - 2
SP  - 131
EP  - 141
UR  - http://journals.sagepub.com/doi/abs/10.1177/0278364917695640
M2  - doi: 10.1177/0278364917695640
N2  - 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.
M1  - img_url=http%3A%2F%2Fmapir.isa.uma.es%2Fimagesrepo%2Fpapers%2F2017%2F2017_raul_ijrr.png
M1  - rank_indexname=JCR-2017
M1  - rank_pos_in_category=3
M1  - rank_num_in_category=26
M1  - rank_cat_name=ROBOTICS
M1  - impact_factor=4.047
ER  -