The RAVEL Corpora

Robot Gestures

Learn to identify different gestures addressed to the robot is another challenge in HRI. Examples of such gestures are: waving, pointing, approaching the robot, ... This category consists of one scenario in which the actor performs six times the following set of nine gestures: (i) wave, (ii) walk towards the robot, (iii) walk away from the robot, (iv) gesture for 'stop', (v) gesture to 'turn around', (vi) gesture for 'come here', (vii) point action, (viii) head motion for 'yes' and (ix) head motion for 'no'. In all cases, the action is accompanied by some speech corresponding to the gesture. In total, eleven actors (nine male and two female) participated in the recordings. Different English accents are present in the audio tracks which makes the speech processing challenging.

Background clutter

Since the Ravel data set aims to be useful for benchmarking methods working in populated spaces these scenarios were collected with two levels of background clutter. The first level corresponds to a controlled scenario in which there are no other actors in the scene and the outdoor and indoor acoustic noise is very limited. During the recording of the scenarios under the second level of background clutter, other actors were allowed to walk around, always behind the main actor. In addition, the extra actors occasionally talked to each other; the amount of outdoor noise was not limited in this case.

Download

In the following you should find the preview video as well as the download folder for each one of the characters. In the download folder you may find:

• The sequence of the concatenation of the left and right images "characterXX.mov".
• The left, right, front and rear audio recordings in a four-channel file: "characterXX.wav".
• The actors' microphone recordings "mic1.wav".
• The synchronization data: frame number and time instant ("characterXX.sync").
• The annotation file (in txt format) of some of the sequences. The intervals in which each gesture is performed are annotated. The files are called Level_of_background_clutter and Gestures.

You may also download the calibration data.

Sequences

Character 1

Character 2

Character 3

Character 4

Character 5

Character 6

Character 7

Character 8

Character 9

Character 10

Character 11