image imagewidth (px) 1.22k 1.22k | lang_goal stringlengths 48 49 | trajectory_2d sequencelengths 1 476 | trajectory_3d sequencelengths 1 476 | camera_params stringclasses 1
value | horizon int64 1 476 |
|---|---|---|---|---|---|
Navigate to <point x="2.9" y="89.7">goal</point> | [
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... | [
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Navigate to <point x="2.9" y="89.8">goal</point> | [
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[
... | [
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-0.011737749... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 40 | |
Navigate to <point x="2.9" y="89.8">goal</point> | [
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[
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[
... | [
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-0.0117405... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 40 | |
Navigate to <point x="2.9" y="89.9">goal</point> | [
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[
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[
... | [
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-0.01174387071049... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 40 | |
Navigate to <point x="2.8" y="89.9">goal</point> | [
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647,
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[
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[
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[
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[
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[
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[
... | [
[
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-0.0117482210131... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 40 | |
Navigate to <point x="2.8" y="90.0">goal</point> | [
[
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[
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[
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[
... | [
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-0.01175096... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 40 | |
Navigate to <point x="2.7" y="90.0">goal</point> | [
[
647,
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[
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[
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[
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[
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[
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[
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[
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[
... | [
[
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[
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-0.0117516... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 40 | |
Navigate to <point x="2.7" y="90.1">goal</point> | [
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[
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[
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[
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[
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[
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[
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[
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[
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[
... | [
[
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[
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[
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0.314467087842676,
-0.01175498151... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 40 | |
Navigate to <point x="2.6" y="90.1">goal</point> | [
[
648,
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[
586,
954
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[
594,
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[
599,
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[
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[
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[
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[
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[
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[
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[
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[
675,
953
],
[
... | [
[
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[
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],
[
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[
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-0.011757702216... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 40 | |
Navigate to <point x="2.6" y="90.2">goal</point> | [
[
648,
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[
586,
955
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
675,
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],
[
... | [
[
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[
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[
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[
1.3148483832642501,
0.3142058812003215,
-0.011762016... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 40 | |
Navigate to <point x="2.5" y="90.2">goal</point> | [
[
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[
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[
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[
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[
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[
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[
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[
765,
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[
810,
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[
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[
675,
955
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[
652,
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],
[
... | [
[
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],
[
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],
[
1.3135042894695086,
0.3140732571842618,
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],
[
1.291990616087405,
0.3002377777448013,
-0.006479430... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.5" y="90.3">goal</point> | [
[
586,
956
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[
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[
599,
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[
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910
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[
638,
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[
679,
924
],
[
721,
944
],
[
765,
965
],
[
811,
988
],
[
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971
],
[
675,
956
],
[
652,
963
],
[
... | [
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Navigate to <point x="2.5" y="90.3">goal</point> | [
[
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[
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-0.0064850... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.5" y="90.4">goal</point> | [
[
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[
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[
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[
... | [
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-0.006488... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.4" y="90.4">goal</point> | [
[
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[
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[
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[
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[
... | [
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-0.0064916... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.3" y="90.5">goal</point> | [
[
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[
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[
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[
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[
... | [
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1.2852599190516159,
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-0.006494667... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.3" y="90.6">goal</point> | [
[
586,
959
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[
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[
599,
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[
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[
... | [
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[
1.2839148754398948,
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-0.00649514... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.2" y="90.6">goal</point> | [
[
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[
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[
599,
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[
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[
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[
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[
... | [
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[
1.282569391339131,
0.29932742536860757,
-0.0064976224... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.2" y="90.7">goal</point> | [
[
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[
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],
[
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],
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[
... | [
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[
1.2812233030554248,
0.29919851343907433,
-0.0065006... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.1" y="90.7">goal</point> | [
[
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],
[
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],
[
599,
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],
[
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[
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[
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[
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[
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[
... | [
[
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[
1.279877209367023,
0.29906966610344354,
-0.0065046959... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.1" y="90.8">goal</point> | [
[
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],
[
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],
[
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],
[
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[
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[
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[
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[
... | [
[
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[
1.278531714075956,
0.29893831342096727,
-0.00650714... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.0" y="90.8">goal</point> | [
[
587,
963
],
[
594,
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],
[
600,
920
],
[
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[
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[
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[
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[
768,
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[
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[
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[
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[
653,
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],
[
... | [
[
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1.2987039186801055,
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[
1.2771866089843982,
0.2988096191952944,
-0.0065101... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.0" y="90.9">goal</point> | [
[
587,
964
],
[
594,
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],
[
600,
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],
[
620,
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[
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[
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[
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951
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[
768,
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],
[
814,
997
],
[
744,
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],
[
677,
963
],
[
653,
971
],
[
... | [
[
1.214672733018202,
0.28292837327488285,
0.011415097332946527
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0.29771939799275277,
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[
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[
1.2758404986690168,
0.2986809690792484,
-0.00651317... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="2.0" y="90.9">goal</point> | [
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[
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Navigate to <point x="2.0" y="91.0">goal</point> | [
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[
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Navigate to <point x="1.9" y="91.0">goal</point> | [
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[
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[
... | [
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-0.00652258... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.8" y="91.1">goal</point> | [
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[
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[
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[
... | [
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-0.006524996614... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.8" y="91.2">goal</point> | [
[
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[
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[
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[
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[
... | [
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1.2691110909093517,
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-0.00652542324981... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.7" y="91.2">goal</point> | [
[
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],
[
595,
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],
[
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],
[
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[
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[
... | [
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[
1.2677649535824709,
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-0.006528389311... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.7" y="91.3">goal</point> | [
[
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],
[
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],
[
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],
[
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[
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[
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[
... | [
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[
1.26641880461071,
0.2977761800753078,
-0.0065317780... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.6" y="91.3">goal</point> | [
[
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],
[
595,
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],
[
600,
925
],
[
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[
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[
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[
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[
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[
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[
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[
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[
... | [
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1.265072650335969,
0.29764805360959234,
-0.006534728... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.6" y="91.4">goal</point> | [
[
587,
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],
[
595,
947
],
[
600,
926
],
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
... | [
[
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[
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[
1.2637270856538385,
0.2975174645995787,
-0.0065376... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.6" y="91.4">goal</point> | [
[
587,
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],
[
595,
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],
[
600,
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],
[
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],
[
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[
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[
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[
771,
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[
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[
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[
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[
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],
[
... | [
[
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[
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[
1.2839028638862915,
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[
1.262381919948887,
0.2973895038496784,
-0.006540037... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.5" y="91.5">goal</point> | [
[
587,
971
],
[
595,
948
],
[
600,
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],
[
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],
[
640,
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],
[
682,
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],
[
726,
959
],
[
771,
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],
[
818,
1005
],
[
747,
988
],
[
679,
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],
[
655,
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],
[
... | [
[
1.1998640881799767,
0.28152672205257945,
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[
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0.29630514138055175,
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[
1.282557035273343,
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[
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Navigate to <point x="1.5" y="91.5">goal</point> | [
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Navigate to <point x="1.4" y="91.6">goal</point> | [
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Navigate to <point x="1.4" y="91.7">goal</point> | [
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Navigate to <point x="1.3" y="91.7">goal</point> | [
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Navigate to <point x="1.3" y="91.8">goal</point> | [
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Navigate to <point x="1.2" y="91.8">goal</point> | [
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-0.0065577194024518... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.1" y="91.9">goal</point> | [
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-0.006561595... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.1" y="91.9">goal</point> | [
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[
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Navigate to <point x="1.1" y="92.0">goal</point> | [
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[
... | [
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-0.0065667571... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.1" y="92.1">goal</point> | [
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[
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[
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[
... | [
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-0.00656961... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.0" y="92.1">goal</point> | [
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[
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[
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[
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[
... | [
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-0.0065718... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 39 | |
Navigate to <point x="1.0" y="92.2">goal</point> | [
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Navigate to <point x="2.0" y="92.6">goal</point> | [
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0.00825965309569... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 36 | |
Navigate to <point x="0.8" y="93.5">goal</point> | [
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0.02282933338709... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 35 | |
Navigate to <point x="2.3" y="97.3">goal</point> | [
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... | [
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Navigate to <point x="2.9" y="99.1">goal</point> | [
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... | [
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0.03307440585867395... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 13 | |
Navigate to <point x="25.9" y="98.2">goal</point> | [
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] | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 2 | |
Navigate to <point x="19.2" y="99.9">goal</point> | [
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] | [
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-0.0291329129... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 11 | |
Navigate to <point x="29.4" y="99.1">goal</point> | [
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] | [
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-0.045059305182201... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 5 | |
Navigate to <point x="18.6" y="99.5">goal</point> | [
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] | [
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] | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 1 | |
Navigate to <point x="0.3" y="91.3">goal</point> | [
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[
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] | [
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-0.128014913001342... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 4 |
End of preview. Expand in Data Studio
CODa Navigation Dataset
This dataset contains navigation trajectory data for robotic navigation tasks. Each example includes an RGB image, a language goal describing the desired navigation target, and 2D/3D trajectories showing the path to the goal.
Dataset Structure
- image: RGB image from the robot's viewpoint
- lang_goal: Natural language instruction describing the navigation goal
- trajectory_2d: 2D trajectory coordinates (pixel space)
- trajectory_3d: 3D trajectory coordinates (world space)
- camera_params: Camera parameters including intrinsics and extrinsics
- horizon: Number of steps in the trajectory
Dataset Statistics
- Total examples: 282140
- Training examples: 230245
- Validation examples: 51895
- Total size: 84.75 GB
- Number of files: 30
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