FROG (2D Laser People Detection)

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FROG is a 2D LiDAR dataset with annotations for people detectors. It consists of 6 fully annotated sequences, and 30 total hours of recordings at the Royal Alcázar of Seville (Spain). The main motivation of this dataset is providing higher quality data with a richer variety of crowded scenarios, for improving the field of people detectors based on knee-high 2D range finders.