The RAVEL dataset (Robots with Auditory and Visual Abilities) contains typical scenarios useful in the development and benchmark of robot-human interaction (HRI) systems. The RAVEL dataset is freely accessible for research purposes and for non-commercial applications. The dataset is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License.
RAVEL website for download: http://perception.inrialpes.fr/datasets/Ravel/
Please cite to the following publication:
X. Alameda-Pineda, J. Sanchez-Riera, V. Franc, J. Wienke, J. Cech, K. Kulkarni, A. Deleforge, R. Horaud. RAVEL: An Annotated Corpus for Training Robots with Audiovisual Abilities. Journal of Multimodal User Interfaces, 2013, 7 (1-2), pp. 79-91.