Robot@VirtualHome dataset

<p>The Robot@VirtualHome dataset is a raw collection of data from 30 virtual homes&nbsp;with different appearance obtained through the Robot@VirtualHome ecosystem.&nbsp;Each virtual house imitates a real house, keeping the same room layout and imitating real objects with virtual object models. The objectives of this dataset are: first,&nbsp; to be used as a testbed for diverse algorithms such as semantic mapping through the categorization of objects and/or rooms, active exploration of the environment, localization by appearance, or others where the data presented are of interest, and second to provide a basic example of the results that can be obtained through the Robot@VirtualHome ecosystem.</p> <p>The dataset consists of 113278 captures in 30 houses, with 236 rooms, 2569 objects and 4 different appearance conditions.&nbsp;Each data capture has stored an RGB image, a depth image, a semantic mask image, the measurements from a laser scanner and a log with information about the position at which the data was taken.&nbsp;In addition, for each house we have added the occupancy map obtained with the laser scanner and a log with the ground truth of all objects and rooms.</p> <p>Five raids have been carried out for each house: the first one, capturing data at the nodes of a grid using standard appearance, in the remaining four raids the data were taken by wandering around visiting all the rooms and using different appearance conditions.</p> <p>More detailed information is provided in the article.</p> <p>An API is available <a href="https://github.com/DavidFernandezChaves/RobotAtVirtualHome-Dataset-API">here </a>to facilitate access to the dataset data.</p>