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This article describes a dataset collected in a set of experiments thatinvolves human participants and a robot. The set of experiments was conductedin the computing science robotics lab in Simon Fraser University, Burnaby, BC,Canada, and its aim is to gather data containing common gestures, movements,and other behaviours that may indicate humans' navigational intent relevant forautonomous robot navigation. The experiment simulates a shopping scenario wherehuman participants come in to pick up items from his/her shopping list andinteract with a Pepper robot that is programmed to help the human participant.We collected visual data and motion capture data from 108 human participants.The visual data contains live recordings of the experiments and the motioncapture data contains the position and orientation of the human participants inworld coordinates. This dataset could be valuable for researchers in therobotics, machine learning and computer vision community.

SFU-Store-Nav: A Multimodal Dataset for Indoor Human Navigation