Concerning our discussion of today on realistic victims. The Real Robot League has published this dataset:

RoboCup Rescue Victim Dataset. Peter Lorenz, Gerald Steinbauer, 2018. Annotated images from RoboCup rescue. https://osf.io/dwsnm/ - See more at: https://robocup.org/robocup_datasets#sthash.DjrmNE0S.dpuf

Regards,

Arnoud