We report experiments on the characterization of a train of attosecond pulses obtained by high-harmonic generation, using mixed-color (XUV+IR) atomic two-photon ionization and electron detection on a velocity map imaging detector. We demonstrate that the relative phase of the harmonics is encoded both in the photoelectron yield and the angular distribution as a function of XUV-IR time delay, thus making the technique suitable for the detection of single attosecond pulses. The timing of the attosecond pulse with respect to the field oscillation of the driving laser critically depends on the target gas used to generate the harmonics.