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software:kitchen-activity-data [2011/07/21 10:12]
tenorth created
software:kitchen-activity-data [2013/01/21 09:02] (current)
tenorth
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 === Introduction === === Introduction ===
 +{{ :​software:​kitchen-activity-data:​image_preview.png?​nolink&​300|}}
 The TUM Kitchen Data Set is provided to foster research in the areas of markerless human motion capture, motion segmentation and human activity recognition. It should aid researchers in these fields by providing a comprehensive collection of sensory input data that can be used to try out and to verify their algorithms. It is also meant to serve as a benchmark for comparative studies given the manually annotated "​ground truth" labels of the underlying actions. The recorded activities have been selected with the intention to provide realistic and seemingly natural motions, ​ and consist of everyday manipulation activities in a natural kitchen environment. The TUM Kitchen Data Set is provided to foster research in the areas of markerless human motion capture, motion segmentation and human activity recognition. It should aid researchers in these fields by providing a comprehensive collection of sensory input data that can be used to try out and to verify their algorithms. It is also meant to serve as a benchmark for comparative studies given the manually annotated "​ground truth" labels of the underlying actions. The recorded activities have been selected with the intention to provide realistic and seemingly natural motions, ​ and consist of everyday manipulation activities in a natural kitchen environment.
  
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 === Description of the Data === === Description of the Data ===
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 The TUM Kitchen Data Set contains observations of several subjects setting a table in different ways. Some perform the activity like a robot would do, transporting the items one-by-one, other subjects behave more natural and grasp as many objects as they can at once. In addition, there are two episodes where the subjects repetitively performed reaching and grasping actions. Applications of the data are mainly in the areas of human motion tracking, motion segmentation,​ and activity recognition. The TUM Kitchen Data Set contains observations of several subjects setting a table in different ways. Some perform the activity like a robot would do, transporting the items one-by-one, other subjects behave more natural and grasp as many objects as they can at once. In addition, there are two episodes where the subjects repetitively performed reaching and grasping actions. Applications of the data are mainly in the areas of human motion tracking, motion segmentation,​ and activity recognition.
  
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 A more detailed documentation of the data set is provided in the following Technical Report: The TUM Kitchen Data Set A more detailed documentation of the data set is provided in the following Technical Report: The TUM Kitchen Data Set
  
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 === Publications === === Publications ===
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 === News === === News ===
  
 +  * January 21, 2012: The mesh models describing the surface of the different subjects have been uploaded. For a description,​ see below.
   * March 16, 2010: Angela Yao, ETH Zürich, contributed labels for almost all remaining sequences. Thanks a lot!   * March 16, 2010: Angela Yao, ETH Zürich, contributed labels for almost all remaining sequences. Thanks a lot!
   * February 8, 2010: Both the BVH files and the extrinsic calibration have been adapted to match the coordinate system of the CSV files (previously,​ there was an erroneous rotation that resulted in inverted values for y and z).   * February 8, 2010: Both the BVH files and the extrinsic calibration have been adapted to match the coordinate system of the CSV files (previously,​ there was an erroneous rotation that resulted in inverted values for y and z).
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   * May 18, 2009: Data set released to the public. If you encounter problems or have ideas what to improve, please contact Moritz Tenorth or Jan Bandouch. We will add more data and documentation in the future.   * May 18, 2009: Data set released to the public. If you encounter problems or have ideas what to improve, please contact Moritz Tenorth or Jan Bandouch. We will add more data and documentation in the future.
  
- +=== Episodes === 
 + 
 +^ ID ^ Subject ^ task ^ video ^^^^^^^^^^^^ mocap ^^ sensor data ^^ startframe ^ endframe ^ labels ^ 
 +| 0-0 | S01 | stt robot | {{:​software:​kitchen-activity-data:​data:​0-0:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-0:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-0:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-0:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-0:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-0:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-0:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-0:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-0:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-0:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-0:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-0:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-0:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-0:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-0:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-0:​doors.csv|doors}} | 240 | 1480 | {{:​software:​kitchen-activity-data:​data:​0-0:​labels.csv|csv}} | 
 +| 0-1 | S01 | stt robot   | {{:​software:​kitchen-activity-data:​data:​0-1:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-1:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-1:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-1:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-1:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-1:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-1:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-1:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-1:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-1:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-1:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-1:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-1:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-1:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-1:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-1:​doors.csv|doors}} | 255 | 1530 | {{:​software:​kitchen-activity-data:​data:​0-1:​labels.csv|csv}} | 
 +| 0-2 | S01 | stt human | {{:​software:​kitchen-activity-data:​data:​0-2:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-2:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-2:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-2:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-2:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-2:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-2:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-2:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-2:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-2:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-2:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-2:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-2:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-2:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-2:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-2:​doors.csv|doors}} | 234 | 1190 | {{:​software:​kitchen-activity-data:​data:​0-2:​labels.csv|csv}} | 
 +| 0-3 | S02 | stt robot | {{:​software:​kitchen-activity-data:​data:​0-3:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-3:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-3:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-3:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-3:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-3:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-3:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-3:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-3:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-3:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-3:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-3:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-3:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-3:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-3:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-3:​doors.csv|doors}} | 306 | 2206 | {{:​software:​kitchen-activity-data:​data:​0-3:​labels.csv|csv}} | 
 +| 0-4 | S02 | stt robot | {{:​software:​kitchen-activity-data:​data:​0-4:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-4:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-4:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-4:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-4:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-4:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-4:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-4:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-4:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-4:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-4:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-4:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-4:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-4:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-4:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-4:​doors.csv|doors}} | 256 | 1763 | {{:​software:​kitchen-activity-data:​data:​0-4:​labels.csv|csv}} | 
 +| 0-6 | S02 | stt robot | {{:​software:​kitchen-activity-data:​data:​0-6:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-6:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-6:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-6:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-6:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-6:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-6:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-6:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-6:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-6:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-6:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-6:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-6:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-6:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-6:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-6:​doors.csv|doors}} | 281 | 1645 | {{:​software:​kitchen-activity-data:​data:​0-6:​labels.csv|csv*}} | 
 +| 0-7 | S01 | stt robot | {{:​software:​kitchen-activity-data:​data:​0-7:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-7:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-7:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-7:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-7:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-7:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-7:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-7:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-7:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-7:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-7:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-7:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-7:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-7:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-7:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-7:​doors.csv|doors}} | 240 | 1720 | {{:​software:​kitchen-activity-data:​data:​0-7:​labels.csv|csv*}} | 
 +| 0-8 | S01 | stt robot | {{:​software:​kitchen-activity-data:​data:​0-8:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-8:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-8:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-8:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-8:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-8:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-8:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-8:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-8:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-8:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-8:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-8:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-8:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-8:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-8:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-8:​doors.csv|doors}} | 237 | 1520 | {{:​software:​kitchen-activity-data:​data:​0-8:​labels.csv|csv*}} | 
 +| 0-9 | S04 | stt robot | {{:​software:​kitchen-activity-data:​data:​0-9:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-9:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-9:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-9:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-9:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-9:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-9:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-9:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-9:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-9:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-9:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-9:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-9:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-9:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-9:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-9:​doors.csv|doors}} | 254 | 1910 | {{:​software:​kitchen-activity-data:​data:​0-9:​labels.csv|csv*}} | 
 +| 0-10 | S04 | stt robot | {{:​software:​kitchen-activity-data:​data:​0-10:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-10:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-10:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-10:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-10:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-10:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-10:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-10:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-10:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-10:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-10:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-10:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-10:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-10:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-10:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-10:​doors.csv|doors}} | 215 | 1850 | {{:​software:​kitchen-activity-data:​data:​0-10:​labels.csv|csv*}} | 
 +| 0-11 | S03 | stt robot | {{:​software:​kitchen-activity-data:​data:​0-11:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-11:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-11:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-11:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-11:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-11:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-11:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-11:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-11:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-11:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-11:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-11:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-11:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-11:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-11:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-11:​doors.csv|doors}} | 290 | 2100 | {{:​software:​kitchen-activity-data:​data:​0-11:​labels.csv|csv*}} | 
 +| 0-12 | S03 | stt human | {{:​software:​kitchen-activity-data:​data:​0-12:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-12:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-12:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-12:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-12:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-12:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-12:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-12:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-12:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-12:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​0-12:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​0-12:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​0-12:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​0-12:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​0-12:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​0-12:​doors.csv|doors}} | 265 | 1400 | {{:​software:​kitchen-activity-data:​data:​0-12:​labels.csv|csv*}} | 
 +| 1-0 | S01 | stt robot | {{:​software:​kitchen-activity-data:​data:​1-0:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-0:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-0:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-0:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-0:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-0:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-0:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-0:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-0:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-0:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-0:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-0:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-0:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​1-0:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​1-0:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​1-0:​doors.csv|doors}} | 309 | 2320 | {{:​software:​kitchen-activity-data:​data:​1-0:​labels.csv|csv}} | 
 +| 1-1 | S01 | stt robot | {{:​software:​kitchen-activity-data:​data:​1-1:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-1:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-1:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-1:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-1:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-1:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-1:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-1:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-1:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-1:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-1:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-1:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-1:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​1-1:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​1-1:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​1-1:​doors.csv|doors}} | 195 | 2030 | {{:​software:​kitchen-activity-data:​data:​1-1:​labels.csv|csv}} | 
 +| 1-2 | S01 | stt robot | {{:​software:​kitchen-activity-data:​data:​1-2:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-2:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-2:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-2:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-2:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-2:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-2:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-2:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-2:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-2:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-2:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-2:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-2:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​1-2:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​1-2:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​1-2:​doors.csv|doors}} | 228 | 2000 | {{:​software:​kitchen-activity-data:​data:​1-2:​labels.csv|csv}} | 
 +| 1-3 | S01 | stt robot | {{:​software:​kitchen-activity-data:​data:​1-3:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-3:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-3:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-3:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-3:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-3:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-3:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-3:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-3:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-3:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-3:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-3:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-3:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​1-3:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​1-3:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​1-3:​doors.csv|doors}} | 255 | 1988 | {{:​software:​kitchen-activity-data:​data:​1-3:​labels.csv|csv}} | 
 +| 1-4 | S01 | stt robot | {{:​software:​kitchen-activity-data:​data:​1-4:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-4:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-4:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-4:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-4:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-4:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-4:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-4:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-4:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-4:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-4:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-4:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-4:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​1-4:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​1-4:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​1-4:​doors.csv|doors}} | 242 | 1890 | {{:​software:​kitchen-activity-data:​data:​1-4:​labels.csv|csv}} | 
 +| 1-5 | S01 | repetitive | {{:​software:​kitchen-activity-data:​data:​1-5:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-5:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-5:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-5:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-5:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-5:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-5:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-5:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-5:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-5:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-5:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-5:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-5:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​1-5:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​1-5:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​1-5:​doors.csv|doors}} | 205 | 6710 | {{:​software:​kitchen-activity-data:​data:​1-5:​labels.csv|csv}} | 
 +| 1-6 | S03 | stt robot | {{:​software:​kitchen-activity-data:​data:​1-6:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-6:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-6:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-6:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-6:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-6:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-6:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-6:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-6:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-6:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-6:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-6:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-6:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​1-6:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​1-6:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​1-6:​doors.csv|doors}} | 239 | 2280 | csv | 
 +| 1-7 | S03 | stt robot | {{:​software:​kitchen-activity-data:​data:​1-7:​cam0.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-7:​raw0.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-7:​cam0.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-7:​cam1.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-7:​raw1.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-7:​cam1.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-7:​cam2.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-7:​raw2.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-7:​cam2.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-7:​cam3.avi|avi}} | {{:​software:​kitchen-activity-data:​data:​1-7:​raw3.avi|raw}} | {{:​software:​kitchen-activity-data:​data:​1-7:​cam3.tar.gz|jpg}} | {{:​software:​kitchen-activity-data:​data:​1-7:​poses.bvh|bvh}} | {{:​software:​kitchen-activity-data:​data:​1-7:​poses.csv|csv}} | {{:​software:​kitchen-activity-data:​data:​1-7:​rfid.csv|rfid}} | {{:​software:​kitchen-activity-data:​data:​1-7:​doors.csv|doors}} | 200 | 2060 | {{:​software:​kitchen-activity-data:​data:​1-7:​labels.csv|csv*}} | 
 + 
 + * Labels provided by Angela Yao, ETH Zürich 
 + 
 +Tracking starts at the video frame startframe and finishes at endframe, i.e. the first row in the pose files of episode 0-0 corresponds to the video frame 240 in that episode. 
 + 
 +The task descriptions read as follows: 
 + 
 +  * stt: set the table 
 +  * robot: transport each object separately, as done by an inefficient robot 
 +  * human: take several objects at once, as humans usually do 
 +  * repetitive: iteratively picking up and putting down objects from and to different places 
 + 
 + The video data is available in three different formats: 
 + 
 +  * avi: xvid encoded RGB color video of size 384x288 pixels 
 +  * raw: mpeg4 (lavc) encoded video of original raw camera input stream (monochrome Bayer pattern RGGB) of size 780x582 pixels 
 +  * jpg: gzipped tar archive of jpeg files for each frame (size 384x288 pixels) <-- huge file size! 
 + 
 + 
 +=== Additional Information and Tools ===
  
 +  * Camera calibration (see documentation):​ {{:​software:​kitchen-activity-data:​data:​extrinsic.tar.gz|extrinsic}},​ {{:​software:​kitchen-activity-data:​data:​intrinsic_lowres.tar.gz|intrinsic (low res)}}, {{:​software:​kitchen-activity-data:​data:​intrinsic_highres.tar.gz|intrinsic (hi res)}}
 +  * {{:​software:​kitchen-activity-data:​data:​matlab_calib.tar.gz|MATLAB calibration}} (provided by Jürgen Gall, BIWI, ETH Zürich)
 +  *  description of the *.bvh file format can be found at http://​www.cs.wisc.edu/​graphics/​Courses/​cs-838-1999/​Jeff/​BVH.html
 +  * The *.bvh files can be viewed with the following programs: (We are not affiliated with the authors of any of these and have not tested the programs)
 +    * Blender: File->​Import->​MotionCapture(*.bvh) [Linux, Windows]
 +    * Matlab: [[http://​www.cs.man.ac.uk/​~neill/​mocap/​|Motion Capture Toolbox]] [Linux, Windows]
 +    * Bvhacker: http://​davedub.co.uk/​bvhacker/​ [Windows]
 +    * WX Motion Viewer: ​  ​http://​cgg.mff.cuni.cz/​~semancik/​research/​wxmv/​index.html [Linux, Windows]
 +  * Mesh model of the tracked subjects: {{:​software:​kitchen-activity-data:​data:​mesh-model.tar.gz|}}. The files read as follows:
 +    * outer_vertices.dat
 +      * one vertex per line
 +      * first three are global x y z coordinates for null pose
 +      * fourth is body part identifier
 +    * outer_triangles.dat
 +      * three indices for the three vertices corresponding to line of vertex in outer_vertices.dat (starting with line 0)
 +    * The '​outer_triangles.dat'​ is the same for all subjects.
software/kitchen-activity-data.1311235975.txt.gz · Last modified: 2011/07/21 10:12 by tenorth