| --- |
| 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](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](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](https://creativecommons.org/licenses/by/4.0/) — see [LICENSE](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. |
|
|
