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license: mit |
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# EgoWalk Trajectories |
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This is the extracted version of the EgoWalk dataset, obtained from the [raw one](https://huggingface.co/datasets/EgoWalk/raw-recordings). |
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Please check the [API for this dataset](https://github.com/egowalk/egowalk-dataset) for the basic usage. |
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## Data format |
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The data is mainly organized in following directories: |
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- *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) |
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- *video*: includes video files that are referenced in *data*. Lossy encoding is used for RGB channel, lossless - is for Depth channel. |
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- *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. |
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- *meta*: includes additional metadata, namely, approximate camera heights, camera params, list of trajectories, etc. |
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## Notes on the odometry |
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[ZED SDK](https://www.stereolabs.com/en-ru/developers/release) 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: |
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- `nulls`: odometry method failed to compute the pose at this particular timestamp |
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- Reinitialization: due two large amount of sequential failures odometry was re-initialized in the middle of trajectory, and re-initialized pose starts in zero. |
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API includes some mechanisms to process such cases, such as [cutters](https://github.com/egowalk/egowalk-dataset/blob/main/egowalk_dataset/datasets/gnm/cutters.py). |
