RoHuCAD: Robots and Humans Collaborative Anomaly Detection

Description

RoHuCAD: Robots and Humans Collaborative Anomaly Detection RoHuCAD is a dataset of human-robot collaboration in a robotic workshop (check workshop_layout.png). Two robots (collaborative manipulator - cobot, autonomous mobile robot - AMR) assist three human operators in assembly of electronic devices. There are two 8-min long recordings in the dataset. They mostly follow the same scenario, with slightly different anomalies. The data is in ROS Noetic rosbag format. Included data  RGBD camera data (color + depth) 3 cameras: Intel Realsense D435i color and depth data at 6 frames per second Intrinsic calibration data Extrinsic calibration data (positions and orientations) Information about positions of robots AMR: Ez-Wheel SWD® Starter Kit Cobot: Universal Robots UR10e Annotations Annotations of specific anomalies are included (CSV file with columns: event_id, tstart, tend, event_type, person_id, camera_id) Gestures / poses BENT T-POSE (hands horizontally to the sides) L+R-UP (both hands up) RH-UP (right hand up) LH-UP (left hand up) SQUAT HI-POSE (waving) Unsafe behaviour Human in robot working area Standing back to (moving) robot Looking at phone Human in the way of AMR Normal activities Assembling/Working Loading/unloading AMR ROS topics /tf /tf_static /joint_states cam_ws2_box /cam_ws2_box/color/camera_info /cam_ws2_box/color/image_raw/compressed /cam_ws2_box/depth_registered/camera_info /cam_ws2_box/depth_registered/image_rect_raw cam_ta2_ws2 /cam_ta2_ws2/color/camera_info /cam_ta2_ws2/color/image_raw/compressed /cam_ta2_ws2/depth_registered/camera_info /cam_ta2_ws2/depth_registered/image_rect_raw cam_ta1_ws2 /cam_ta1_ws2/color/camera_info /cam_ta1_ws2/color/image_raw/compressed /cam_ta1_ws2/aligned_depth_to_color/camera_info /cam_ta1_ws2/aligned_depth_to_color/image_raw Acknowledgement The work leading to these results has received funding from the European Union’s Horizon Europe research and innovation programme within the ULTIMATE project under the Grant Agreement no 101070162.

Resources

Name Format Description Link
0 http://data.europa.eu/88u/dataset/oai-zenodo-org-14142968
0 http://data.europa.eu/88u/dataset/oai-zenodo-org-14142968
0 http://data.europa.eu/88u/dataset/oai-zenodo-org-14142968
0 http://data.europa.eu/88u/dataset/oai-zenodo-org-14142968
0 http://data.europa.eu/88u/dataset/oai-zenodo-org-14142968
0 http://data.europa.eu/88u/dataset/oai-zenodo-org-14142968

Tags

  • anomaly-detection
  • human-detection
  • rgbd
  • robotics
  • cobot

Topics

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