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The Domestic Rooms Dataset
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Description:
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The Domestic Rooms (DR) Dataset contains robot observations of several rooms of the domestic environment. 
It provides a large-scale testing environment for room categorization approaches based on data obtained with a laser range finder.


Data acquisition:
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The following equipment has been used for data acquisition:
 - Robot: Pioneer P3-DX
 - Laser range-finder: Hokuyo URG (Sensor range: 5.6 meters, Field of view: 240 degrees, Sensor position on the robot: 30 cm above the floor)
 - Odometry sensor

The robot was guided for a tour through each room using joystick, at speeds between 0.1 and 0.5 m/s, 
while odometry readings and laser range data were being recorded with the frequency of 10 frames per second.


Scanned rooms:
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24 different homes have been scanned, consisting of houses and apartments from 4 different cities. 
There are a total of 123 rooms in the dataset, consisting of:

21 living rooms
6  corridors
35 bathrooms
28 bedrooms
21 kitchens
12 toilets


File organization:
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There are six directories, where each corresponds to one room category. In each directory there are as many files as 
there are examples of rooms that have been scanned for the corresponding room type. Therefore, each file contains all 
the data that has been gathered in a single room. Rows of the file represent consecutive observations, while each 
contains the following information:

1. timestamp
2. room type
3. odometry x 
4. odometry y 
5. odometry phi
6. laser range finder start angle
7. angle step
8. number of beams
9. min range 
10. max range 
Range readings 


Contact:
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For any questions plese contact Peter Ursic: 
peter.ursic@fri.uni-lj.si


References:
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Please cite the following paper:

@inproceedings{UrsicICRA16,
 author = {P. Ursic and A. Leonardis and D. Skocaj and M. Kristan},
 title = {Hierarchical spatial model for 2D range data based room categorization},
 booktitle = {ICRA},
 year = {2016}
} 


