---
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.