---
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>`.

![StereoUrban sample](examples/stereourban_sample.gif)

*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).

![UVA sample](examples/uva_sample.gif)

*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.