JRDB-PanoTrack: An Open-world Panoptic Segmentation and Tracking Robotic Dataset in Crowded Human Environments

Duy Tho Le, Chenhui Gou, Stavya Datta, Hengcan Shi, Ian Reid, Jianfei Cai, Hamid Rezatofighi; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024, pp. 22325-22334

Autonomous robot systems have attracted increasing research attention in recent years where environment understanding is a crucial step for robot navigation human-robot interaction and decision. Real-world robot systems usually collect visual data from multiple sensors and are required to recognize numerous objects and their movements in complex human-crowded settings. Traditional benchmarks with their reliance on single sensors and limited object classes and scenarios fail to provide the comprehensive environmental understanding robots need for accurate navigation interaction and decision-making. As an extension of JRDB dataset we unveil JRDB-PanoTrack a novel open-world panoptic segmentation and tracking benchmark towards more comprehensive environmental perception. JRDB-PanoTrack includes (1) various data involving indoor and outdoor crowded scenes as well as comprehensive 2D and 3D synchronized data modalities; (2) high-quality 2D spatial panoptic segmentation and temporal tracking annotations with additional 3D label projections for further spatial understanding; (3) diverse object classes for closed- and open-world recognition benchmarks with OSPA-based metrics for evaluation. Extensive evaluation of leading methods shows significant challenges posed by our dataset.