RT Journal Article
T1 Robot@Home, a Robotic Dataset for Semantic Mapping of Home Environments
A1 Ruiz-Sarmiento, José Raúl
A1 Galindo-Andrades, Cipriano
A1 González-Jiménez, Antonio Javier
K1 Robots autónomos
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 4 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 Journals
YR 2017
FD 2017
LK https://hdl.handle.net/10630/33863
UL https://hdl.handle.net/10630/33863
LA eng
NO Ruiz-Sarmiento JR, Galindo C, Gonzalez-Jimenez J. Robot@Home, a robotic dataset for semantic mapping of home environments. The International Journal of Robotics Research. 2017;36(2):131-141. doi:10.1177/0278364917695640
NO This work has been funded by the Span- ish projects “IRO: Improvement of the sensorial and autonomous capability of Robots through Olfaction” [2012- TEP-530] and “PROMOVE: Advances in mobile robotics for promoting independent life of elders” [DPI2014-55826- R], and the European project “MoveCare: Multiple-actOrs Virtual Empathic CARgiver for the Elder” [Call: H2020- ICT-2016-1, contract number: 732158].
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026