Nima Roshandel, Constantin Scholz, Hoang-Long Cao, Milan Amighi, Hamed Firouzipouyaei, Aleksander Burkiewicz, Sebastien Menet, Felipe Ballen-Moreno, Dylan Warawout Sisavath, Emil Imrith, Antonio Paolillo, Jan Genoe, Bram Vanderborght
3D pose estimation and gesture command recognition are crucial for ensuring safety and improving human-robot interaction. While RGB-D cameras are commonly used for these tasks, they often raise privacy concerns due to their ability to capture detailed visual data of human operators. In contrast, using RaDAR sensors offers a privacy-preserving alternative, as they can output point-cloud data rather than images. We introduce mmPrivPose3D, a dataset of 3D RaDAR point-cloud data that captures human movements and gestures using a single IWR6843AOPEVM RaDAR sensor with a frequency of 10 Hz synchronized with 19 corresponding 3D skeleton keypoints as the ground truth. These keypoints were extracted from RGB-D images captured by an Intel RealSense camera recorded at 30 frames per second using the Nuitrack SDK, and labeled with gestures. The dataset was collected from n = 15 participants. Our dataset serves as a fundamental resource for developing machine learning algorithms to improve the accuracy of pose estimation and gesture recognition using RaDAR data.
Roshandel, N, Scholz, C, Cao, H-L, Amighi, M, Firouzipouyaei, H, Burkiewicz, A, Menet, S, Ballen-Moreno, F, Sisavath, DW, Imrith, E, Paolillo, A, Genoe, J & Vanderborght, B 2025, 'mmPrivPose3D: A dataset for pose estimation and gesture command recognition in human-robot collaboration using frequency modulated continuous wave 60Hhz RaDAR', Data in Brief, vol. 59, 111316, pp. 1-8. https://doi.org/10.1016/j.dib.2025.111316
Roshandel, N., Scholz, C., Cao, H.-L., Amighi, M., Firouzipouyaei, H., Burkiewicz, A., Menet, S., Ballen-Moreno, F., Sisavath, D. W., Imrith, E., Paolillo, A., Genoe, J., & Vanderborght, B. (2025). mmPrivPose3D: A dataset for pose estimation and gesture command recognition in human-robot collaboration using frequency modulated continuous wave 60Hhz RaDAR. Data in Brief, 59, 1-8. Article 111316. https://doi.org/10.1016/j.dib.2025.111316
@article{a454ab93aca24ff6935e21507f8899d5,
title = "mmPrivPose3D: A dataset for pose estimation and gesture command recognition in human-robot collaboration using frequency modulated continuous wave 60Hhz RaDAR",
abstract = "3D pose estimation and gesture command recognition are crucial for ensuring safety and improving human-robot interaction. While RGB-D cameras are commonly used for these tasks, they often raise privacy concerns due to their ability to capture detailed visual data of human operators. In contrast, using RaDAR sensors offers a privacy-preserving alternative, as they can output point-cloud data rather than images. We introduce mmPrivPose3D, a dataset of 3D RaDAR point-cloud data that captures human movements and gestures using a single IWR6843AOPEVM RaDAR sensor with a frequency of 10 Hz synchronized with 19 corresponding 3D skeleton keypoints as the ground truth. These keypoints were extracted from RGB-D images captured by an Intel RealSense camera recorded at 30 frames per second using the Nuitrack SDK, and labeled with gestures. The dataset was collected from n = 15 participants. Our dataset serves as a fundamental resource for developing machine learning algorithms to improve the accuracy of pose estimation and gesture recognition using RaDAR data.",
keywords = "Human-robot collaboration, IWR6843AOPEVM, RaDAR, Pose estimation, Gesture command recognition",
author = "Nima Roshandel and Constantin Scholz and Hoang-Long Cao and Milan Amighi and Hamed Firouzipouyaei and Aleksander Burkiewicz and Sebastien Menet and Felipe Ballen-Moreno and Sisavath, {Dylan Warawout} and Emil Imrith and Antonio Paolillo and Jan Genoe and Bram Vanderborght",
note = "Publisher Copyright: {\textcopyright} 2025 The Author(s)",
year = "2025",
month = apr,
doi = "10.1016/j.dib.2025.111316",
language = "English",
volume = "59",
pages = "1--8",
journal = "Data in Brief",
issn = "2352-3409",
publisher = "Elsevier BV",
}