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Datasets:
ly041021
/
odom_dataset

Tasks:
Robotics
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Tags:
rosbag
odometry
robotics
imu
lidar
camera
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Odometry ROSBag Dataset

这是 Hugging Face 数据仓库，只保存数据集发布需要的文件。

代码、导入脚本、校验脚本、测试和开发文档放在 GitHub：

https://github.com/Ly041021/odom_dataset

Contents 

raw/sessions/<session_id>/bag.bag
raw/sessions/<session_id>/bag.bag.sha256
raw/sessions/<session_id>/metadata.yaml
raw/sessions/<session_id>/topic_summary.yaml
metadata/sessions.parquet
metadata/topics.parquet
metadata/schema.md
metadata/sensors.yaml
quality/reports/
calibration/robot_v1_template/
dataset.yaml

Data Policy

原始 ROSBag 是数据源。不要覆盖旧 bag，不要手动修改 bag 内容。

新增采集应该创建新的 session：

raw/sessions/<new_session_id>/

每个 session 至少包含：

bag.bag
bag.bag.sha256
metadata.yaml
topic_summary.yaml

Index Files

metadata/sessions.parquet 是 session 级索引。

metadata/topics.parquet 是 topic 级索引。

Parquet 只是快速检索入口，不是原始数据替代品。真正的数据仍然是：

raw/sessions/<session_id>/bag.bag

Calibration

calibration/robot_v1_template/ 是标定模板。做定量评估或训练前，应该替换成真实机器人标定。

Notes

这个仓库故意不包含：

scripts/
tests/
examples/
Makefile
requirements.txt

这些属于 GitHub 代码仓库，不属于 Hugging Face 数据仓库。
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