juexzz/dejaview_v2

DejaView v2

DejaView v2 is a clean three-traversal indoor/outdoor dataset distributed as one ZIP per physical scene. It contains 9 scenes and 27 aligned traversals.

Scene	Stride	Frames	Annotated frames	Points	ZIP size
2metro8floor	10	928	262	430	145.3 MB
6metro6floor	10	806	278	434	136.1 MB
370jayst2floor	10	862	262	472	159.3 MB
370jayst3floor	10	900	275	398	149.1 MB
370jayst5floor	10	798	267	412	128.6 MB
370jayst8floor	5	1914	353	443	328.0 MB
greyson3floor	5	1446	407	581	244.3 MB
columbus90indoor	10	870	357	538	163.2 MB
columbus90outdoor	10	1168	350	612	357.7 MB

Distribution

data/scenes.parquet contains one row per scene and points to the corresponding file under archives/. The train split means all released scenes; it is not a prescribed machine-learning train split.

Each ZIP is self-contained:

DATASET_CARD.md
SCENE_SHA256SUMS.txt
<scene_id>/
  images/run_N_<timestamp_ns>_<left|right>.jpg
  stream_annotations.json
  camera_poses.json
  labels.json
  scene_manifest.json
  alignment.json
  runs/run_N/odom.csv
  runs/run_N/ImgPose.txt

Images are 800x800 undistorted pinhole views with 90-degree field of view and fx=fy=cx=cy=400 pixels. camera_to_world, dense ImgPose.txt, and odometry for all three runs are expressed in the run-1 coordinate frame.

The hardware records the right image first. Exactly the first right frame of each run has new_traversal: true; the paired left frame is false.

Point annotations use 15 categories: Paper_Plate, Book, Pencil, Blue_Tape, Green_Tape, Scissors, Glove, Water_Bottle, Cheez_It, Remote_Control, Calculator, Umbrella, Headphones, Yellow_Hat, Yellow_Coat.

Deliberate exclusions

Colorized LAS point clouds are not included. They were used only to visually check boundary alignment and are not inputs to the released task. The source captures, DA3/VGGT outputs, embeddings, semantic voxel maps, evaluation results, logs and processing intermediates are also excluded.

SHA256SUMS.txt, upload_manifest.json, and each ZIP's SCENE_SHA256SUMS.txt provide integrity metadata. No public data license has been assigned; keep the repository private until the owner selects a license.

Timestamp audits

Greyson run 2 is normalized by +180 seconds to remove its overlap with run 1; the scene ZIP contains the reversible mapping. The two Columbus 90 scenes were checked pairwise across all three runs and have no timestamp overlap, so their offsets are zero. Each Columbus ZIP contains timestamp_audit.json.