WildBox

A 6-class monocular 3D wildlife detection dataset with KITTI / Omni3D-compatible labels, derived from drone footage of African megafauna. This README describes the contents of this release and the conventions used.

Release v1.1: annotations are exported from the human-corrected annotation tracks, and the KITTI label channel is written in a per-frame upright rectified reference frame with standard calibration files (see kitti_labels section below).

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Contents of this release

README.md                                ← this file
WildBox_train.json                       ← Omni3D-format train split
WildBox_val.json                         ← Omni3D-format val   split
metadata/                                ← per-segment / per-video / per-track statistics (CSV)
checkpoints/                             ← paper baseline checkpoints (see checkpoints/CHECKPOINTS_README.md)
<group>/                                 ← 11 group folders (see table below)
└── <video>.zip                          ← 64 per-video archives total

Each per-video archive expands to <video>/seg{N}/ with frames + cameras + KITTI labels + calibration + tracking metadata (see "Per-segment contents" below).

To use the dataset, place all of the above into a single working directory and extract every <video>.zip in place (i.e. inside its group folder) so that the file_path fields in the two JSONs resolve:

for z in */*.zip; do unzip -d "$(dirname "$z")" "$z"; done

Each file_path in the JSONs is relative to that working directory, e.g. gira1/DJI_20240118140338_0007_V/seg1/frame_000001.jpg.

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Headline statistics

Split	Images	Annotations	Categories
train	45 979	170 554	6
val	13 779	66 951	6

The 6 categories are: giraffe, grevys_zebra, elephant, plains_zebra, rhino, gazelle (canonical IDs 1000 – 1005).

Each group folder contains annotations of a single species:

Group	Species (category)
gira1, gira2	giraffe
zebr1, zebr3	plains_zebra
zebr2	grevys_zebra
elep1, elep2, elep3	elephant
rhin1, rhin2	rhino
gaze1	gazelle

Frames are 1920 × 1080 RGB JPEGs.

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Per-segment contents (inside each <video>.zip)

<video>/
└── seg{N}/
    ├── frame_NNNNNN.jpg          ← RGB 1920×1080
    ├── cameras.json              ← per-frame intrinsics K + extrinsic [R|t]
    ├── kitti_labels/
    │   └── frame_NNNNNN.txt      ← KITTI 3D-detection format (rectified frame)
    ├── calib/
    │   └── frame_NNNNNN.txt      ← per-frame KITTI calibration (P2, R0_rect)
    └── tracking_summary.json     ← annotator-native (full 3×3 R, centroid loc)

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kitti_labels/*.txt — KITTI 3D detection format (rectified frame)

One line per object, space-separated, 16 fields:

class trunc occ alpha x1 y1 x2 y2 h w l X Y_bot Z ry score

Field	Meaning
class	species name (e.g. giraffe, plains_zebra)
trunc	truncation [0, 1]
occ	occlusion {0, 1, 2, 3}
alpha	observation angle, radians
x1 y1 x2 y2	2D bbox in image pixels at 1920 × 1080
h w l	cuboid extents along rectified Y / Z / X axes
X Y_bot Z	bottom-center of cuboid in RECTIFIED camera coords (Y points down)
ry	yaw rotation around the rectified Y axis (radians)
score	1.0 for ground-truth

The 3D fields live in a per-frame upright rectified camera frame, exactly as in original KITTI (where labels live in the R0_rect frame). The rectified frame is chosen per frame so that its −Y axis aligns with the animals' up direction; standing animals are therefore yaw-only and the single ry angle represents the full annotated orientation without loss. To project a 3D point X_rect to pixels, use the per-frame calibration:

x_img ~ P2 · [X_rect; 1]          (P2 from calib/frame_NNNNNN.txt)

Standard KITTI tooling that projects boxes through P2 renders these labels correctly. Do NOT project rectified coordinates with the raw camera K from cameras.json — use P2, or rotate back to the camera frame first (X_cam = R_cam_from_rect · X_rect, where P2 = [K · R_cam_from_rect | 0]).

Dimensions order here is KITTI-standard (h, w, l); the Omni3D JSONs and tracking_summary.json use the annotator-native order (see below).

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Coordinate conventions

• Image coordinates: 1920 × 1080, origin top-left, X right, Y down.
• Camera frame: X right, Y down, Z forward (OpenCV / Omni3D / KITTI).
• Per-segment scale normalisation: every 3D coordinate is divided by the median |z_cam| of valid GT cuboids in that segment, so median |z_cam| ≈ 1 per segment. Per-segment scale factors are listed in WildBox_{train,val}.json under info.scene_scales. The KITTI labels and the Omni3D JSONs share this same per-segment gauge.

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kitti_labels vs. Omni3D JSON / tracking_summary.json

Property	kitti_labels	tracking_summary.json / Omni3D JSON
Reference frame	per-frame upright rectified (calib)	camera frame
Location	bottom-center of cuboid	centroid of cuboid
Dimensions order	(h, w, l) — KITTI standard	(l, w, h) — annotator native
Rotation	yaw ry in the rectified frame	full 3 × 3 matrix

Both channels are exported from the same human-corrected annotation tracks and agree exactly; use whichever format your pipeline expects.

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cameras.json (per segment)

{
  "cameras": [
    {
      "image_name": "frame_000001.jpg",
      "image_width": 1920,
      "image_height": 1080,
      "intrinsic": [[fx, 0, cx], [0, fy, cy], [0, 0, 1]],
      "extrinsic": [[r11, r12, r13, tx], ...]    // 3 × 4
    },
    ...
  ]
}

Intrinsics K are calibrated for 1920 × 1080. Extrinsics map world → camera coords (X_cam = R · X_world + t), with the segment's first frame as the world origin.

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Omni3D JSONs (WildBox_{train,val}.json)

Top-level keys: info, categories, images, annotations — standard Omni3D / COCO layout.

images[i] keys:

• id (int)
• dataset_id (int)
• file_path (str, relative to this directory)
• height, width (int — 1920 × 1080)
• K (3 × 3, intrinsic at native resolution)

annotations[i] follows the Omni3D 3D-cuboid schema (centroid location, full 3 × 3 rotation R_cam, full-precision dimensions [W, H, L], tight 2D box bbox in XYWH), plus track_id for per-animal identity within a segment. info.scene_scales holds the per-segment scale factors and info.tracking_provenance records the annotation source per segment.

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metadata/ — summary statistics (CSV)

Derived purely from the two Omni3D JSONs (no flight telemetry). All three files share the keys split,group,video[,segment].

• metadata/segments.csv — one row per segment (345): species, n_frames, n_annotations, n_tracks, herd_density.
• metadata/videos.csv — one row per video (64): same columns aggregated over the video's segments.
• metadata/tracks.csv — one row per track (1,478): track_id, species, n_annotations, first_frame, last_frame (frame numbers as in the released frame_NNNNNN.jpg names).

herd_density is the mean number of annotated animals per frame (n_annotations / n_frames). A track is one animal instance followed through one segment; track_id is numbered within a segment, so tracks are keyed by (video, segment, track_id).

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Source / provenance

Each segment was tracked and 3D-annotated via the WildLIFT-assisted annotator pipeline and human-corrected in the annotation tool. Release v1.1 exports the human-corrected tracks for both label channels. Intrinsics and 2D boxes are at native frame resolution (1920 × 1080); the KITTI channel stores 3D in the per-frame rectified frame described above, with calibration shipped per frame.