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license: mit

EgoWalk Trajectories

This is the extracted version of the EgoWalk dataset, obtained from the raw one. Please check the API for this dataset for the basic usage.

Data format

The data is mainly organized in following directories:

  • data: includes csv with the main per-frame annotations - video name, frame index, UTC timestamp, camera pose (may be null due to odometry failures, see next sections)
  • video: includes video files that are referenced in data. Lossy encoding is used for RGB channel, lossless - is for Depth channel.
  • annotations: includes language goal annotations for the selected frames. We release to versions of annotations: normal - the main version, and brief - the version with slightly more brief sentences.
  • meta: includes additional metadata, namely, approximate camera heights, camera params, list of trajectories, etc.

Notes on the odometry

ZED SDK was used to calculate the odometry from the raw data. This odometry is still imperfect, and sometimes may result in odometry failures of two kinds:

  • nulls: odometry method failed to compute the pose at this particular timestamp
  • Reinitialization: due two large amount of sequential failures odometry was re-initialized in the middle of trajectory, and re-initialized pose starts in zero. API includes some mechanisms to process such cases, such as cutters.