update

README.md

@@ -78,38 +78,17 @@ All splits share the same schema, enabling consistent downstream pipelines.
 ## Data Collection Protocol
 
 1. Stereo (Calibration - Static Sensor)
-   - Robot body stationary
-   - Camera and IMU fixed
-   - AprilTag calibration grid moves in front of the camera
-
-   Purpose:
-   - Stereo camera calibration
-   - Intrinsics/extrinsics estimation
+   - Setup: robot stationary, camera + IMU fixed, AprilTag grid moves
+   - Used for: stereo calibration (intrinsics/extrinsics)
 
 2. Stereo-Inertial (Calibration - Moving Sensor)
-   - Robot body moves
-   - Camera and IMU move together
-   - AprilTag calibration grid stationary
-
-   Purpose:
-   - Camera-IMU extrinsic calibration
-   - Temporal synchronization validation
-   - Motion-consistent calibration
+   - Setup: robot moves, camera + IMU move together, AprilTag grid stationary
+   - Used for: camera-IMU extrinsics + sync checks
 
 3. VIO (Operational SLAM Sequence)
-   - Robot moves freely in the environment
-   - No calibration targets (no April grids)
-   - Natural scene observations
-
-   Includes:
-   - Stereo images
-   - IMU data
-   - Ground-truth odometry
-
-   Purpose:
-   - Visual-inertial odometry (VIO)
-   - SLAM evaluation
-   - Sensor fusion benchmarking
+   - Setup: robot moves in a normal environment (no calibration targets)
+   - Logged: stereo images, IMU, ground-truth odometry
+   - Used for: VIO/SLAM evaluation
 
 ## Data Format