license: cc-by-4.0
task_categories:
- robotics
tags:
- navigation
- stereo
- visual-odometry
- egocentric
pretty_name: StereoWalker Dataset
StereoWalker Dataset
Public release of the datasets used in StereoWalker. It contains two parts:
| Part | Directory | Contents | Size |
|---|---|---|---|
| StereoUrban (training) | StereoUrban/ |
544 YouTube video IDs + camera-pose annotations | ~310 MB |
| UVA robot test set | uva_test/ |
10 stereo sequences, 3,305 samples with images, poses, and scene-category labels | ~530 MB |
Part 1: StereoUrban — YouTube stereo walking videos
We do not redistribute the videos themselves. We release the YouTube video IDs
(StereoUrban/video_ids.txt) together with the per-video camera-pose annotations we
generated (StereoUrban/annotations/<video_id>.npy). Each video can be retrieved at
https://www.youtube.com/watch?v=<video_id>.
Left/right eye views with the upcoming 10 s path in the current camera frame (5× real time) — the short-horizon relative supervision the annotations are designed for.
See StereoUrban/README.md for the annotation format and processing details.
Part 2: UVA robot test set
A real-robot stereo navigation dataset collected on a wheeled robot. 10 continuous segments, 3,305 stereo samples at 1 Hz, each with a 6-DoF pose and (for 9 of the 10 segments) per-sample scene-category labels (crowd, person close by, turn, action–target mismatch, crossing, other).
Stereo camera views with the robot trajectory drawn in sync (test segment 3, 16× real time).
See uva_test/README.md for the directory layout and JSON schema.
License
The annotations and the UVA test set are released under
CC BY 4.0 — see LICENSE.
The YouTube videos referenced in StereoUrban/video_ids.txt remain the property of
their respective uploaders and are subject to YouTube's Terms of Service; this
release contains only video identifiers and annotations derived by us.