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---
license: cc-by-nc-sa-4.0
---
# Vision-Language Global Localization (VLG-Loc) Dataset
This dataset is for evaluation of Vision-Language Global Localization (VLG-Loc).
## Dataset Structure
Each dataset directory contains the following files. Note: All camera images (`.png`) are pre-corrected for lens distortion.
- `left_camera_image.png`: Image from the rear-left camera of the robot.
- `center_camera_image.png`: Image from the front-facing camera of the robot.
- `right_camera_image.png`: Image from the rear-right camera of the robot.
- `data.yaml`: Contains metadata, file paths, and ground truth information for the sample.
- **Format:** A YAML file storing key-value pairs.
- **Example Content:**
```yaml
task_label: global_localization
ground_truth_pose: # Ground truth pose (x, y, yaw) in the map frame
x: 1.4948672925333364
y: -0.2408375545348086
theta: -0.19592457986226722
left_camera_image_path: left_camera_image.png
center_camera_image_path: center_camera_image.png
right_camera_image_path: right_camera_image.png
pointcloud_path: pointcloud.npy
timestamp: 1756980768.4454215
```
- `pointcloud.npy`: Point cloud data from the 2D LiDAR scan, saved as a NumPy array.
- **Format:** A NumPy `ndarray`.
- **Shape:** `(N, 2)`, where `N` is the number of points.
- **Data Type:** `float32`.
- **Content:** Each row represents a 2D point `(x, y)` in the robot's base coordinate frame.
## Environments
The table below details the environments included in this dataset.
| Environment Name | Directory Name | Description |
|-------------|-----------------------|----------------------------------------------------------------------------|
| UG/UA (Uniform Geometry, Uniform Appearance) | env_ug_ua | An environment of identical columns arranged in a regular pattern. |
| UG/DA (Uniform Geometry, Diverse Appearance) | env_ug_da | An environment consisting of regularly placed bookshelves. |
| DG/UA (Diverse Geometry, Uniform Appearance) | env_dg_ua | An indoor scene with many pieces of furniture and frequent item repetition. |
| DG/DA (Diverse Geometry, Diverse Appearance) | env_dg_da | An indoor environment populated with numerous objects, where a high variety of furniture reduces item repetition. |
| Retail Store (Real) | env_retail_store_real | Real retail store environment (EZOHUB TOKYO). |
| Retail Store (Sim) | env_retail_store_sim | A simulated retail environment where appearances are substituted with alphanumeric labels. |
## Acknowledgement
It was collected in several simulation environments and at the real-world retail store "EZOHUB TOKYO", in cooperation with SATUDORA HOLDINGS CO.,LTD.
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