FROG: A New People Detection Dataset for Knee-High 2D Range Finders

Mobile robots require knowledge of the environment, especially of humans located in its vicinity. While the most common approaches for detecting humans involve computer vision, an often overlooked hardware feature of robots for people detection are their 2D range finders. In most robots, they are conveniently located at a height approximately between the ankle and the knee, so they can be used for detecting people too, and with a larger field of view and depth resolution compared to cameras.