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