占有マップと軌跡を対応付けたデータセットOcc-Traj120
Occ-Traj120: Occupancy Maps with Associated Trajectories
局所マップの占有表現と、その上を移動する11万件以上の軌跡を対応付けて公開したデータセット。軌跡予測における環境要因の活用を促す。
著者: Tin Lai, Weiming Zhi, Fabio Ramos
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
Trajectory modelling had been the principal research area for understanding and anticipating human behaviour. Predicting the dynamic path by observing the agent and its surrounding environment are essential for applications such as autonomous driving and indoor navigation suggestions. However, despite the numerous researches that had been presented, most available dataset does not contains any information on environmental factors---such as the occupancy representation of the map---which arguably plays a significant role on how an agent chooses its trajectory. We present a trajectory dataset with the corresponding occupancy representations of different local-maps. The dataset contains more than 120 locally-structured maps with occupancy representation and more than 110K trajectories in total. Each map has few hundred corresponding simulated trajectories that navigate from a spatial location of a room to another point. The dataset is freely available online.
