{"id":"https://openalex.org/W6968804785","doi":"https://doi.org/10.5281/zenodo.14936069","title":"Sixth Sense: Indoor Human Spatial Awareness Dataset","display_name":"Sixth Sense: Indoor Human Spatial Awareness Dataset","publication_year":2025,"publication_date":"2025-02-27","ids":{"openalex":"https://openalex.org/W6968804785","doi":"https://doi.org/10.5281/zenodo.14936069"},"language":"en","primary_location":{"id":"doi:10.5281/zenodo.14936069","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.14936069","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"dataset"},"type":"dataset","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.5281/zenodo.14936069","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Arreghini, Simone","orcid":"https://orcid.org/0009-0004-1700-4355"},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Arreghini, Simone","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence Research"],"raw_orcid":"https://orcid.org/0009-0004-1700-4355","affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence Research","institution_ids":["https://openalex.org/I2614128279"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Carlotti, Nicholas","orcid":"https://orcid.org/0009-0006-1475-3400"},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Carlotti, Nicholas","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence Research"],"raw_orcid":"https://orcid.org/0009-0006-1475-3400","affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence Research","institution_ids":["https://openalex.org/I2614128279"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nava, Mirko","orcid":"https://orcid.org/0000-0002-3736-0419"},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nava, Mirko","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence Research"],"raw_orcid":"https://orcid.org/0000-0002-3736-0419","affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence Research","institution_ids":["https://openalex.org/I2614128279"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Paolillo, Antonio","orcid":"https://orcid.org/0000-0001-5483-1254"},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Paolillo, Antonio","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence Research"],"raw_orcid":"https://orcid.org/0000-0001-5483-1254","affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence Research","institution_ids":["https://openalex.org/I2614128279"]}]},{"author_position":"last","author":{"id":null,"display_name":"Giusti, Alessandro","orcid":"https://orcid.org/0000-0003-1240-0768"},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Giusti, Alessandro","raw_affiliation_strings":["Dalle Molle Institute for Artificial Intelligence Research"],"raw_orcid":"https://orcid.org/0000-0003-1240-0768","affiliations":[{"raw_affiliation_string":"Dalle Molle Institute for Artificial Intelligence Research","institution_ids":["https://openalex.org/I2614128279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2614128279"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":null,"topics":[],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7810999751091003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.607699990272522},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5766000151634216},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5360999703407288},{"id":"https://openalex.org/keywords/raw-data","display_name":"Raw data","score":0.4569000005722046},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4519999921321869},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.4260999858379364},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.33660000562667847}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7810999751091003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6711999773979187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6294999718666077},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.607699990272522},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5766000151634216},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5616000294685364},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5360999703407288},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.4569000005722046},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4519999921321869},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.4260999858379364},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.36890000104904175},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.33660000562667847},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.3271999955177307},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.32589998841285706},{"id":"https://openalex.org/C197352329","wikidata":"https://www.wikidata.org/wiki/Q1093434","display_name":"Citizen science","level":2,"score":0.3179999887943268},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C16910744","wikidata":"https://www.wikidata.org/wiki/Q7705759","display_name":"Test data","level":2,"score":0.2816999852657318},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.2768999934196472},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.25690001249313354},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.25679999589920044}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5281/zenodo.14936069","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.14936069","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"dataset"}],"best_oa_location":{"id":"doi:10.5281/zenodo.14936069","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.14936069","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"dataset"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Related":[0,213],"Paper":[1,216],"Sixth-Sense:":[2],"Self-Supervised":[3],"Learning":[4],"of":[5,8,22,63,68,137,169,236,373,384,442,496,524,527,608],"Spatial":[6,226],"Awareness":[7,227],"Humans":[9],"from":[10,71,101,107,232,347,427,436,444,513,546,590,611,641],"a":[11,60,90,203,233,445],"Planar":[12],"Lidar":[13],"accepted":[14],"at":[15],"ARSO":[16],"2026.":[17],"Work":[18],"Abstract":[19],"Reliable":[20],"localization":[21],"people":[23,171],"is":[24,157,172,401,415,717,731],"fundamental":[25],"for":[26,159,174,208,250,295,487,558,568,578,733,755,782,808],"service":[27,211],"and":[28,96,133,142,180,268,285,306,371,727,738,742,748,811,818],"social":[29],"robots":[30,54,160],"that":[31,197],"must":[32],"operate":[33],"in":[34,125,140,144,162,190,260,449,539,750,765],"close":[35],"interaction":[36],"with":[37,57,59,128,241,282,304,312,335,777],"humans.":[38],"State-of-the-art":[39],"human":[40,251,266,751,756],"detectors":[41],"often":[42],"rely":[43],"on":[44,114,599],"RGB-D":[45,109],"cameras":[46,58],"or":[47,74],"costly":[48],"3D":[49],"LiDARs.":[50],"However,":[51],"most":[52],"commercial":[53],"are":[55,80,776],"equipped":[56,240],"narrow":[61],"field":[62],"view,":[64],"leaving":[65],"them":[66],"unaware":[67],"users":[69],"approaching":[70],"other":[72],"directions,":[73],"inexpensive":[75],"1D":[76,102,243],"LiDARs":[77],"whose":[78],"readings":[79,463],"hard":[81],"to":[82,93,459,478,500,587,658,669,679,691,704],"interpret.":[83],"To":[84],"address":[85],"these":[86],"limitations,":[87],"we":[88],"propose":[89],"self-supervised":[91],"approach":[92,178,199],"detect":[94],"humans":[95,123,480,489,498,589,610],"estimate":[97],"their":[98],"2D":[99],"pose":[100,545],"LiDAR":[103,420,424,433,447,638,687,700,741],"data,":[104,119],"using":[105,185,636,740],"detections":[106],"an":[108,246,348],"camera":[110,249,516,676],"as":[111,202,363,403,416,719],"supervision.":[112],"Trained":[113],"70":[115],"minutesof":[116],"autonomously":[117],"collected":[118,256],"our":[120],"model":[121],"detects":[122],"omnidirectionally":[124],"unseen":[126],"environments":[127,194],"71%":[129],"precision,":[130],"80%":[131],"recall,":[132],"mean":[134],"absolute":[135],"errors":[136],"13":[138],"cm":[139],"distance":[141],"44\u00b0":[143],"orientation,":[145],"measured":[146],"against":[147],"ground":[148,344],"truth":[149,345,556,566,576],"data.":[150],"Beyond":[151],"raw":[152],"detection":[153,737],"accuracy,":[154],"this":[155,454,763],"capability":[156],"relevant":[158],"operating":[161],"shared":[163],"public":[164,193,277],"spaces,":[165],"where":[166,308,331],"omnidirectional":[167],"awareness":[168,206,747],"nearby":[170],"crucial":[173],"safe":[175],"navigation,":[176],"appropriate":[177],"behavior,":[179],"timely":[181],"human-robot":[182],"in-teraction":[183],"initiation":[184],"low-cost,":[186],"privacy-preserving":[187],"sensing.":[188],"Deployment":[189],"two":[191,242],"additional":[192],"further":[195],"suggests":[196],"the":[198,313,336,356,359,428,437,450,467,501,514,528,540,547,642,659,680,692,705,714,770,778,796,800,804,820],"can":[200],"serve":[201],"practical":[204],"wide-FOV":[205],"layer":[207],"socially":[209],"aware":[210],"robotics.":[212],"material":[214],"arXiv":[215],"GitHub":[217],"Repository":[218],"Dataset":[219,228,397],"Overview":[220],"The":[221,253,289,317,381,399,413],"Sixth":[222],"Sense:":[223],"Indoor":[224],"Human":[225,472,736],"comprises":[229],"sensor":[230,410,688,701],"recordings":[231],"custom":[234],"version":[235],"PAL":[237],"Robotics":[238],"TIAGo":[239],"planar":[244],"LiDARs,":[245],"Azure":[247,506],"Kinect":[248,507,515,529,675],"detections.":[252],"dataset":[254,360,400,730,764],"was":[255,292,361,793],"over":[257],"nine":[258],"days":[259],"three":[261],"distinct":[262],"indoor":[263,302],"environments,":[264],"capturing":[265],"activity":[267],"spatial":[269,746],"interactions.":[270],"Data":[271,353,419,536,617,650],"Collection":[272],"Environments":[273],"University":[274,368],"Corridor:":[275],"A":[276,300,327],"transit":[278],"area":[279],"between":[280],"classrooms":[281],"study":[283],"desks":[284],"passersby":[286],"(36k":[287],"samples).":[288,316,339,378,389,396],"robot's":[290],"motion":[291,350,548,757],"manually":[293],"controlled":[294,328],"safety":[296],"reasons.":[297],"Break":[298,374,385],"Area:":[299],"large":[301],"space":[303],"tables":[305],"chairs":[307],"expert":[309,332],"individuals":[310,333],"interact":[311,334],"robot":[314,318,337,451,468,502,643],"(12k":[315],"followed":[319],"autonomous,":[320],"randomized":[321],"trajectories":[322],"while":[323],"avoiding":[324],"obstacles.":[325],"Lab:":[326],"laboratory":[329],"environment":[330],"(7k":[338,395],"This":[340,729,791],"setup":[341],"includes":[342],"high-precision":[343],"tracking":[346,512,739],"OptiTrack":[349,533,591,600,612],"capture":[351,549],"system.":[352],"Splits":[354],"In":[355,711],"original":[357],"paper":[358],"diveded":[362],"follows:":[364,417],"Training":[365],"Set:":[366,380,391],"All":[367,392,774],"Corridor":[369],"samples":[370,376,387,394],"half":[372,383],"Area":[375,386],"(42k":[377],"Validation":[379],"remaining":[382],"(6k":[388],"Test":[390],"Lab":[393,541],"Structure":[398],"provided":[402],"multiple":[404],".h5":[405],"files,":[406],"each":[407],"containing":[408],"different":[409],"data":[411,426,435,601,628,634,639],"recordings.":[412],"structure":[414],"Sensor":[418],"Data:":[421,474,508],"scan_raw:":[422],"Raw":[423,432,626],"scan":[425,434],"front":[429,637],"sensor.":[430,439],"scan_raw_back:":[431],"rear":[438],"scan_virtual_history:":[440],"History":[441],"scans":[443],"virtual":[446],"positioned":[448],"base":[452,655,666,682,693,706],"center,":[453],"lidar":[455],"has":[456],"been":[457],"defined":[458],"have":[460],"360":[461],"laser":[462],"equally":[464],"spaced":[465],"around":[466],"[n_timestamps":[469,481,490,503,517,530,551,561,571,581,592,602,613,629,646,661,671,683,695,708],"x":[470,482,491,504,518,520,531,552,562,572,582,593,603,614,630,647,662,672,684,696,709],"360].":[471,483,492,505,532,594,604,615],"Detection":[473],"humans_distance_sensor:":[475],"Distance":[476,585],"measurements":[477,586],"detected":[479,488,497,588,609],"humans_presence_sensor:":[484],"Presence":[485,596],"indicators":[486,597],"humans_relative_bearing_sensor:":[493],"Bearing":[494,606],"angles":[495,607],"relative":[499,621,657,668,678,690,703,724],"body_tracking_data:":[509],"Body":[510],"joint":[511],"(32xn_people)":[519],"7].":[521,553,563,573,583,663,673,685,697,710],"camera_fov_mask:":[522],"Field":[523],"view":[525],"mask":[526],"Motion":[534],"Capture":[535],"(available":[537],"only":[538],"scenario):":[542],"optitrack__base_footprint_optitrack:":[543],"Robot\u2019s":[544,654,665],"system":[550],"optitrack__person_marker_1:":[554],"Ground":[555,565,575],"marker":[557,567,577],"person":[559,569,579],"1":[560],"optitrack__person_marker_2:":[564],"2":[570],"optitrack__person_marker_3:":[574],"3":[580],"humans_distance_optitrack:":[584],"humans_presence_optitrack:":[595],"based":[598],"humans_relative_bearing_optitrack:":[605],"Odometry":[616,633],"[3":[618,721],"velocity,":[619],"4":[620,723],"quaternion,":[622],"6":[623],"twist]:":[624],"odom:":[625],"odometry":[627,670],"13].":[631,648],"odom_corrected:":[632],"corrected":[635],"directlyu":[640],"software":[644],"stack":[645],"Transformation":[649],"(TF":[651],"Frames):":[652],"tf_base_link_wrt_map:":[653],"link":[656,667,677,694,707],"map":[660],"tf_base_link_wrt_odom:":[664],"tf_azure_kinect_depth_camera_link_wrt_base_link:":[674],"robot\u2019s":[681],"tf_base_laser_link_wrt_base_link:":[686],"frame":[689,702],"tf_base_laser_back_link_wrt_base_link:":[698],"Rear":[699],"all":[712],"cases":[713],"dimension":[715],"7":[716],"comprised":[718],"follow:":[720],"position,":[722],"quaternion]":[725],"Usage":[726],"Applications":[728],"designed":[732],"research":[734],"in:":[735],"depth":[743],"sensors.":[744],"Robot":[745],"navigation":[749],"environments.":[752],"Self-supervised":[753],"learning":[754],"prediction.":[758],"Citation":[759],"If":[760],"you":[761],"use":[762],"your":[766],"research,":[767],"please":[768],"cite":[769],"corresponding":[771],"paper:":[772],"Acknowledgments":[773],"authors":[775],"Dalle":[779],"Molle":[780],"Institute":[781],"Artificial":[783],"Intelligence":[784],"(IDSIA),":[785],"USI-SUPSI,":[786],"Lugano,":[787],"6962,":[788],"Switzerland":[789],"name.surname@supsi.ch":[790],"work":[792],"supported":[794],"by":[795,803,819],"European":[797],"Union":[798],"through":[799],"project":[801],"SERMAS,":[802],"Swiss":[805,821],"State":[806],"Secretariat":[807],"Education,":[809],"Research":[810],"Innovation":[812],"(SERI)":[813],"under":[814],"contract":[815],"number":[816,826],"22.00247,":[817],"National":[822],"Science":[823],"Foundation,":[824],"grant":[825],"213074.":[827]},"counts_by_year":[],"updated_date":"2026-04-17T05:58:53.018234","created_date":"2025-10-10T00:00:00"}