Pedestrian group dataset

Here we provide multiple datasets containing the pedestrian position and group data. The tracking of pedestrians was done using automatic tracking systems, whereas the groups were labeled manually. The data was taken in two environments: "DIAMOR" and "ATC".

The DIAMOR environment datasets were taken in two large straight corridors connecting the Diamor shopping centre in Osaka, Japan, with the railway station. The pedestrian tracking was done using multiple laser range finders, using the method described in reference [3].

The ATC environment datasets were taken in part of the ATC (Asia and Pacific Trade Center) shopping and business center in Osaka, Japan. The tracking of pedestrians in this environment was done using 3-D range sensors. For more details see [4]. For additional data from this environment you can also check the ATC dataset page.

All annotations were done by a single coder (note: this is different from [1], where an agreement between two coders was used). Apart from group annotations, consisting of IDs of all pedestrians in the group, the socially interacting partners are also annotated (the definition of social interaction is given in [1]).

Datasets

The dataset contains 8 experiment days, 2 in the DIAMOR environment and 6 in the ATC environment. For each day the data for 4 1-hour periods is provided: 10:00-11:00, 12:00-13:00, 15:00-16:00, 19:00-20:00.
The data is provided as zip compressed files, one file per experiment day. Each zip file contains one or more files containing the person tracking data (person_[DATASET_NAME]_[TIME].csv) and one containing the group annotations (groups_[DATASET_NAME].dat).

Person tracking files contain the data for all persons that were tracked in the environment on a given day and period of time. Each row corresponds to a single tracked person at a single instant, and it contains the following 8 fields (comma separated values):
TIME [s] (unixtime + milliseconds/1000), PEDESTRIAN_ID, POSITION_X [mm], POSITION_Y [mm], POSITION_Z (height) [mm], VELOCITY [mm/s], ANGLE_OF_MOTION (direction of velocity vector) [rad], FACING_ANGLE (body direction) [rad]

In the DIAMOR environment data the tracking was done with laser range finders, so there is no height infromation, i.e. POSITION_Z is always 0.
The tracking systems in DIAMOR and ATC have different characteristics. See [1] and additional references for details.

Group files contain the group annotations for the given day. Only pedestrians in groups are listed, pedestrians walking alone are not included. Each row corresponds to a single tracked pedestrian inside one group, and it contains the following fields (space separated values):
PEDESTRIAN_ID GROUP_SIZE PARTNER_ID_1 ... (list of ids of all other pedestrians in group) NUMBER_OF_INTERACTING_PARTNERS INTERACTION_PARTNER_ID_1 ... (list of all socially interacting partners)

The PEDESTRIAN_ID can take the following special values:
- -1 = pedestrian without ID (i.e. not tracked by the system)
- negative value = not a person, i.e. either a baby carriage/stroller, or a wheelchair.
  In this case the PEDESTRIAN_ID can be followed by a negative number with the following meaning:
  -2 = wheelchair,
  -3 = automatic wheelchair,
  no negative number (the number after PEDESTRIAN_ID is positive, i.e. GROUP_SIZE) = baby carriage/stroller.
When a pedestrian has multiple IDs (if the tracking was interrupted and then re-started), the first ID is followed by a zero in the second field, then by the total number of IDs belonging to that pedestrian, and the remaining IDs. After that the row continues with group size, etc., as written above.
Pedestrians tracked twice in different groups are considered as different pedestrians (even if with the same ID) and they have no special notation.
The number of fields in each line are different depending on the size of groups and the number of interacting partners.
Even though the person tracking files for the ATC environment contain the data for pedestrians in the whole environment, the group labeling was done only in a part of the corridor (approximatelly in the westmost one third of the corridor, close to the central hall). Groups that did not move through this area were not labeled!

Environment	Date	Times	File	File size
DIAMOR	2010/10/06 (Wed)	11:00-15:40	DIAMOR-1.zip	133 MB
DIAMOR	2010/10/08 (Fri)	11:20-17:00	DIAMOR-2.zip	257 MB
ATC	2013/01/09 (Wed)	10:00-11:00 12:00-13:00 15:00-16:00 19:00-20:00	ATC-1.zip	171 MB
	2013/02/17 (Sun)		ATC-2.zip	366 MB
	2013/03/24 (Sun)		ATC-3.zip	303 MB
	2013/04/24 (Wed)		ATC-4.zip	130 MB
	2013/05/05 (Sun)		ATC-5.zip	515 MB
	2013/05/08 (Wed)		ATC-6.zip	168 MB

References

Papers containing more details about the dataset:
[1] F. Zanlungo, T. Ikeda, and T. Kanda, "Potential for the dynamics of pedestrians in a socially interacting group," Physical Review E, Vol. 89, No. 1, 012811, 2014
[2] F. Zanlungo, D. Brscic, and T. Kanda, "Pedestrian group spatial size scaling under growing density conditions," Physical review E, Vol. 91, No. 6, 062810, 2015

Additional references:
Tracking using laser range finders:
[3] D. Glas, T. Miyashita, H. Ishiguro and N. Hagita, "Laser-based tracking of human position and orientation using parametric shape modeling," Advanced robotics, Vol. 23, No. 4, pp. 405-428, 2009
Tracking using 3-D range finders and ATC environment:
[4] D. Brscic, T. Kanda, T. Ikeda, T. Miyashita, "Person position and body direction tracking in large public spaces using 3-D range sensors," IEEE Transactions on Human-Machine Systems, Vol. 43, No. 6, pp. 522-534, 2013

Dataset: Pedestrian tracking with group annotations

Datasets

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References

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