MotorMark Dataset

MotorMark Dataset


  • Deep oriented: is composed by more than 30k frames. A variety of subjects is guarantee (35 subjects in total);
  • Automotive context: we recreate an automotive context. The subject is standing in a real car dashboard and performs real inside-car actions, like rotating steering wheel, shifting gears and so on;
  • Variety: subjects are asked to follow a constrain path (4 led are placed in correspondence with the speedometer, the rev counter, infotainment system and the left wing mirror), to rotate their head in fixed position or to freely move their head. Besides, subjects can wear glasses, sun glasses and a scarf, to generate partial face and landmark occlusions; 
  • Landmark annotations: the annotation of 68 landmark positions on both RGB and depth frames is available, following the ISO MPEG-4 standard. The ground truth has been manually generated. The user was provided with an initial estimation done by means of the algorithm included in the dLib libraries (, which gives landmark positions on RGB images. The projection of the landmark coordinates on the depth images is carried out exploiting the internal calibration tool of the Microsoft Kinect SDK.  
  • High quality: RGB and depth images are acquired with a spatial resolution of 1280x720 HD and 515x424, respectively;


Human face is very personal, we only send the data to approved researchers. You need to be a representative for your organization (students are not accepted) and use your official email address in the organization in order to request for the Pandora dataset. 
To obtain a copy of the dataset, please send an email to guido.borghi[at]unimore[dot]it stating:

  1. Your name, title and affilation 
  2. Your intended use of the data 
  3. The following statement: 

You are hereby given permission to copy this data in electronic or hardcopy form for your own scientific use and to distribute it for scientific use to colleagues within your research group. Inclusion of rendered images or video made from this data in a scholarly publication (printed or electronic) is also permitted. In this case, credit must be given to the publication. However, the data may not be included in the electronic version of a publication, nor placed on the Internet. These restrictions apply to any representations (other than images or video) derived from the data, including but not limited to simplifications, remeshing, and the fitting of smooth surfaces. The making of physical replicas this data is prohibited, and the data may not be distributed to students in connection with a class. For any other use, including distribution outside your research group, written permission is required. Any commercial use of the data is prohibited. Commercial use includes but is not limited to sale of the data, derivatives, replicas, images, or video, inclusion in a product for sale, or inclusion in advertisements (printed or electronic), on commercially-oriented web sites, or in trade shows. 

Finally, an email will be sent to you with the instruction to get the dataset.
To download the dataset, we require to send an email. This will help us to keep in touch in case errors are found or as updates become available.
Dataset download is provided through SFTP connection, so please install a free SFTP client like FileZilla.

Here you can find a readme file for the Motormark dataset

We believe in open research and we are happy if you find this data useful. If you use it, please cite our work.

 title = {Fast and Accurate Facial Landmark Localization in Depth Images for In-car Applications},
 author = {Frigieri, Elia and Borghi, Guido and Vezzani, Roberto and Cucchiara, Rita},
 booktitle = {Proceedings of the 19th International Conference on Image Analysis and Processing (ICIAP)},
 year = {2017}



We sincerely thank all the people who participated in the experiments that led to the creation of this dataset.