updated README

README.md

@@ -1,3 +1,52 @@
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-license: cc-by-nc-sa-4.0
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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.