Dataset Preview
The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed because of a cast error
Error code: DatasetGenerationCastError
Exception: DatasetGenerationCastError
Message: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 2 new columns ({'drift_raw_deg', 'drift_deg'}) and 6 missing columns ({'vo_z', 'vo_x', 'vo_y', 'imu_x', 'imu_y', 'imu_z'}).
This happened while the csv dataset builder was generating data using
hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work/drift_curve.csv (at revision 79d2ca01583237875788266ac07cbc2a90081e85), ['hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work@79d2ca01583237875788266ac07cbc2a90081e85/accel_series.csv', 'hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work@79d2ca01583237875788266ac07cbc2a90081e85/drift_curve.csv', 'hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work@79d2ca01583237875788266ac07cbc2a90081e85/steps_all.csv', 'hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work@79d2ca01583237875788266ac07cbc2a90081e85/summary_by_clip.csv']
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1856, in _prepare_split_single
writer.write_table(table)
~~~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 811, in write_table
self._write_table(pa_table, writer_batch_size=writer_batch_size)
~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 822, in _write_table
pa_table = table_cast(pa_table, self._schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
clip: string
t_s: double
drift_raw_deg: double
drift_deg: double
-- schema metadata --
pandas: '{"index_columns": [{"kind": "range", "name": null, "start": 0, "' + 741
to
{'clip': Value('string'), 't_s': Value('float64'), 'imu_x': Value('float64'), 'imu_y': Value('float64'), 'imu_z': Value('float64'), 'vo_x': Value('float64'), 'vo_y': Value('float64'), 'vo_z': Value('float64')}
because column names don't match
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1379, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 956, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1702, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1858, in _prepare_split_single
raise DatasetGenerationCastError.from_cast_error(
...<4 lines>...
)
datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 2 new columns ({'drift_raw_deg', 'drift_deg'}) and 6 missing columns ({'vo_z', 'vo_x', 'vo_y', 'imu_x', 'imu_y', 'imu_z'}).
This happened while the csv dataset builder was generating data using
hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work/drift_curve.csv (at revision 79d2ca01583237875788266ac07cbc2a90081e85), ['hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work@79d2ca01583237875788266ac07cbc2a90081e85/accel_series.csv', 'hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work@79d2ca01583237875788266ac07cbc2a90081e85/drift_curve.csv', 'hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work@79d2ca01583237875788266ac07cbc2a90081e85/steps_all.csv', 'hf://datasets/origin-data-lab/stereo-visual-odometry-head-pose-imu-validation-real-work@79d2ca01583237875788266ac07cbc2a90081e85/summary_by_clip.csv']
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
clip string | t_s float64 | imu_x float64 | imu_y float64 | imu_z float64 | vo_x float64 | vo_y float64 | vo_z float64 |
|---|---|---|---|---|---|---|---|
A | 4.0669 | 0.1348 | -0.1984 | 0.1529 | 0.1294 | -0.16 | 0.1536 |
A | 4.1333 | -0.2043 | -0.1314 | 0.2098 | -0.193 | -0.1312 | 0.2147 |
A | 4.2004 | -0.5872 | -0.0587 | 0.0708 | -0.5589 | -0.0781 | 0.0824 |
A | 4.2669 | -0.9873 | 0.0062 | -0.0937 | -0.9398 | 0.0134 | -0.0975 |
A | 4.3333 | -1.2439 | 0.1963 | -0.1153 | -1.1799 | 0.1911 | -0.1387 |
A | 4.3999 | -1.2318 | 0.2874 | -0.0468 | -1.1902 | 0.2827 | -0.1015 |
A | 4.4669 | -1.1097 | 0.247 | -0.031 | -1.0842 | 0.2445 | -0.0855 |
A | 4.5338 | -0.965 | 0.1163 | -0.049 | -0.9304 | 0.1226 | -0.0902 |
A | 4.5999 | -0.718 | -0.0395 | -0.1462 | -0.702 | 0.0111 | -0.1966 |
A | 4.6671 | -0.4331 | -0.0755 | -0.0955 | -0.4266 | 0.0086 | -0.1512 |
A | 4.7333 | -0.1631 | -0.1096 | -0.0639 | -0.1625 | -0.0368 | -0.113 |
A | 4.8007 | 0.0462 | -0.217 | -0.1813 | 0.0396 | -0.1344 | -0.2037 |
A | 4.8666 | 0.229 | -0.2489 | -0.2165 | 0.2279 | -0.1914 | -0.2096 |
A | 4.9338 | 0.3366 | -0.2623 | -0.2374 | 0.3368 | -0.1978 | -0.231 |
A | 5.0001 | 0.3136 | -0.1428 | -0.1644 | 0.3286 | -0.1022 | -0.1577 |
A | 5.0666 | 0.2463 | -0.0475 | -0.2089 | 0.2918 | -0.0427 | -0.1869 |
A | 5.1336 | 0.2153 | 0.0168 | -0.2546 | 0.2321 | 0.0598 | -0.261 |
A | 5.2001 | 0.1301 | 0.1924 | -0.2084 | 0.1383 | 0.1937 | -0.2097 |
A | 5.2666 | 0.1245 | 0.3808 | -0.0845 | 0.127 | 0.3596 | -0.0936 |
A | 5.3333 | 0.186 | 0.3339 | -0.04 | 0.1706 | 0.3262 | -0.0506 |
A | 5.3999 | 0.1734 | 0.2726 | -0.0478 | 0.1685 | 0.2672 | -0.0536 |
A | 5.4676 | 0.1294 | 0.1935 | -0.0472 | 0.1278 | 0.1945 | -0.0367 |
A | 5.5334 | 0.1001 | 0.1217 | -0.0407 | 0.1062 | 0.1364 | -0.0487 |
A | 5.5999 | 0.1516 | 0.0434 | 0.0339 | 0.14 | 0.0736 | 0.029 |
A | 5.6671 | 0.2183 | -0.0173 | 0.0818 | 0.2307 | -0.0431 | 0.1007 |
A | 5.7332 | 0.2761 | -0.0961 | 0.0236 | 0.2692 | -0.1057 | 0.0586 |
A | 5.7999 | 0.3092 | -0.0096 | 0.0737 | 0.3132 | -0.0425 | 0.1028 |
A | 5.8668 | 0.3169 | 0.0471 | 0.0883 | 0.314 | 0.0129 | 0.1137 |
A | 5.9334 | 0.2887 | 0.0629 | 0.0881 | 0.2746 | 0.0458 | 0.0818 |
A | 6.0003 | 0.2543 | 0.0744 | 0.0541 | 0.2586 | 0.0481 | 0.0569 |
A | 6.0666 | 0.2574 | 0.0906 | 0.0995 | 0.2318 | 0.0895 | 0.072 |
A | 6.1336 | 0.1642 | 0.0811 | 0.0649 | 0.1508 | 0.0689 | 0.0505 |
A | 6.1999 | 0.0774 | 0.057 | 0.0285 | 0.068 | 0.0598 | 0.003 |
A | 6.2666 | -0.018 | 0.051 | -0.0168 | -0.0336 | 0.069 | -0.0533 |
A | 6.3332 | -0.1252 | 0.0722 | -0.041 | -0.126 | 0.0855 | -0.0738 |
A | 6.3999 | -0.2149 | 0.0483 | -0.0595 | -0.204 | 0.0618 | -0.0844 |
A | 6.4669 | -0.2709 | 0.0145 | -0.0782 | -0.2463 | 0.024 | -0.1067 |
A | 6.5333 | -0.3009 | 0.0226 | -0.0713 | -0.2839 | 0.0373 | -0.0949 |
A | 6.5999 | -0.2812 | 0.0505 | -0.0188 | -0.2545 | 0.0464 | -0.0344 |
A | 6.6666 | -0.2483 | 0.0212 | -0.0483 | -0.2435 | 0.0339 | -0.0507 |
A | 6.7332 | -0.222 | 0.0053 | -0.0641 | -0.2062 | 0.015 | -0.0659 |
A | 6.8001 | -0.1638 | -0.0126 | -0.0532 | -0.1607 | -0.0072 | -0.0398 |
A | 6.8666 | -0.1202 | -0.0559 | -0.0545 | -0.1216 | -0.0424 | -0.0562 |
A | 6.9332 | -0.0949 | -0.06 | -0.0625 | -0.0823 | -0.0663 | -0.0342 |
A | 6.9999 | -0.0526 | -0.0543 | -0.0241 | -0.0553 | -0.0557 | -0.0113 |
A | 7.0666 | -0.0387 | -0.0317 | -0.0129 | -0.0477 | -0.0292 | -0.0027 |
A | 7.1332 | -0.027 | 0.0091 | 0.0128 | -0.033 | 0.0003 | 0.0275 |
A | 7.2002 | 0.0144 | 0.0272 | 0.0149 | 0.0054 | 0.0051 | 0.0298 |
A | 7.2669 | 0.0428 | 0.0345 | 0.0068 | 0.0421 | 0.002 | 0.0314 |
A | 7.3334 | 0.0526 | 0.0613 | 0.019 | 0.0451 | 0.0289 | 0.0352 |
A | 7.3999 | 0.0297 | 0.0932 | 0.0105 | 0.0342 | 0.0551 | 0.0283 |
A | 7.4666 | 0.0202 | 0.1081 | 0.0147 | 0.0174 | 0.0809 | 0.0226 |
A | 7.5332 | 0.0361 | 0.0916 | 0.0173 | 0.0322 | 0.0714 | 0.0316 |
A | 7.5999 | 0.0319 | 0.0615 | 0.0055 | 0.0294 | 0.0531 | 0.0139 |
A | 7.6671 | 0.0101 | 0.0158 | -0.0311 | 0.0177 | 0.0028 | -0.0145 |
A | 7.7332 | 0.0184 | -0.018 | -0.027 | 0.0227 | -0.019 | -0.0187 |
A | 7.7999 | 0.0255 | -0.0451 | -0.0236 | 0.023 | -0.0263 | -0.0363 |
A | 7.8666 | 0.0369 | -0.0621 | -0.0151 | 0.0303 | -0.0437 | -0.0205 |
A | 7.9332 | 0.0416 | -0.0634 | 0.0002 | 0.0418 | -0.0493 | -0.0065 |
A | 8 | 0.044 | -0.0469 | 0.0161 | 0.0365 | -0.0375 | 0.0077 |
A | 8.067 | 0.0461 | -0.0326 | 0.0271 | 0.0344 | -0.0187 | 0.0134 |
A | 8.1336 | 0.0485 | -0.0369 | 0.0238 | 0.0432 | -0.0253 | 0.0138 |
A | 8.1999 | 0.051 | -0.0525 | 0.0085 | 0.0407 | -0.0445 | 0.0057 |
A | 8.2666 | 0.0333 | -0.036 | 0.0033 | 0.0295 | -0.0325 | -0.0051 |
A | 8.3338 | 0.0276 | -0.0176 | 0.0018 | 0.0258 | -0.0259 | 0.0077 |
A | 8.4001 | 0.0199 | -0.0101 | -0.0008 | 0.0205 | -0.0128 | 0.0046 |
A | 8.467 | 0.0129 | 0 | -0.0049 | 0.023 | -0.0116 | 0.0096 |
A | 8.5332 | 0.0011 | 0.0109 | -0.0011 | 0.009 | -0.0024 | 0.0095 |
A | 8.5999 | -0.0007 | 0.0071 | -0.0177 | 0.0075 | -0.0157 | 0.0135 |
A | 8.6666 | -0.0009 | 0.0093 | -0.0113 | 0.0066 | -0.0008 | -0.001 |
A | 8.7332 | 0.0004 | 0.0023 | -0.011 | 0.0105 | -0.0067 | -0.0024 |
A | 8.7999 | -0.0044 | 0.0032 | -0.0075 | 0.0055 | -0.0188 | 0.0171 |
A | 8.8665 | -0.016 | 0.0047 | -0.0089 | -0.0053 | -0.0126 | 0.0132 |
A | 8.9333 | -0.017 | 0.0059 | -0.005 | -0.0135 | 0.0012 | -0.0063 |
A | 8.9999 | -0.0206 | -0.0127 | -0.0218 | -0.024 | -0.0092 | -0.0282 |
A | 9.0665 | -0.0093 | -0.0331 | -0.0404 | -0.0096 | -0.0268 | -0.0386 |
A | 9.1332 | -0.0033 | -0.0335 | -0.0361 | -0.0066 | -0.0335 | -0.0372 |
A | 9.1999 | -0.0007 | -0.0175 | -0.024 | -0.0011 | -0.019 | -0.026 |
A | 9.2666 | 0.0173 | -0.0091 | -0.0064 | 0.0038 | -0.005 | -0.0107 |
A | 9.3332 | 0.0096 | -0.0006 | 0.0058 | 0.0033 | 0.008 | -0.0017 |
A | 9.3999 | 0.0001 | 0.0008 | -0.0028 | -0.0013 | 0.0047 | 0.0035 |
A | 9.4665 | -0.0153 | 0.0186 | 0.0048 | -0.0194 | 0.0209 | 0.0023 |
A | 9.5332 | -0.0122 | 0.0246 | 0.017 | -0.0171 | 0.0233 | 0.0274 |
A | 9.6 | -0.0164 | 0.0282 | 0.0281 | -0.0142 | 0.0336 | 0.02 |
A | 9.6665 | -0.0223 | 0.0292 | 0.0419 | -0.0128 | 0.0248 | 0.0489 |
A | 9.7332 | -0.0293 | 0.0197 | 0.0387 | -0.0206 | 0.0173 | 0.0419 |
A | 9.7999 | -0.03 | 0.0079 | 0.036 | -0.0275 | 0.014 | 0.0295 |
A | 9.8673 | -0.0188 | -0.0047 | 0.0375 | -0.0128 | 0.0054 | 0.0214 |
A | 9.9332 | -0.0143 | -0.0285 | 0.0216 | -0.0132 | -0.025 | 0.0149 |
A | 9.9999 | -0.0029 | -0.039 | 0.0096 | -0.0027 | -0.0245 | -0.0013 |
A | 10.0672 | -0.0004 | -0.0273 | 0.0233 | 0.0009 | -0.0192 | 0.0117 |
A | 10.1338 | 0.0123 | -0.0192 | 0.026 | 0.008 | -0.0172 | 0.0182 |
A | 10.1999 | 0.0236 | -0.0202 | 0.0263 | 0.0119 | -0.007 | 0.0129 |
A | 10.2665 | 0.0172 | -0.0219 | 0.0112 | 0.0134 | -0.016 | 0.007 |
A | 10.3332 | 0.0084 | -0.0152 | 0.0001 | 0.0046 | -0.0025 | -0.0053 |
A | 10.3999 | -0.0003 | -0.0111 | -0.0071 | -0.0035 | 0.0061 | -0.0205 |
A | 10.4666 | 0.0028 | -0.0126 | -0.0057 | -0.0036 | 0.0029 | -0.0148 |
A | 10.5333 | -0.0028 | -0.0064 | 0.0007 | -0.0083 | 0.0068 | -0.0136 |
A | 10.6002 | -0.0116 | -0.0034 | -0.0015 | -0.0095 | -0.0014 | -0.0064 |
A | 10.6665 | -0.0186 | -0.0044 | -0.006 | -0.016 | 0.0108 | -0.0259 |
End of preview.
Origin Data Lab · Technical Field Note #21
ODL Stereo VO Checked With IMU
English technical note | Korean technical note
ODL stereo visual odometry, checked with the IMU
Per-step rotation (vision vs gyroscope, 2694 steps), accumulated drift and acceleration (vision vs accelerometer) for 180 s of real produce-portioning work, three clips.
Limits / licence
One rig, one worker, three 60 s clips. Translation checked at 0.25–2 Hz only. Licence: Creative Commons Attribution 4.0 International (CC BY 4.0) for derived data and figures; MIT for code. No images or personal data.
About Origin Data Lab
Origin Data Lab (origindatalab.io, OriginDataLab Co., Ltd.) is a real-world data collection company based in Yangyang, Gangwon State, South Korea. We plan and run egocentric, stereo+IMU and field video capture for physical AI and robotics teams, with documented QA such as the measurements in this dataset. Not affiliated with "Origin Lab" (game data) or "OriginLab" (Origin/OriginPro software).
- Request sample data: stereo+IMU or phone+IMU egocentric capture
- Custom data collection: field capture in South Korea and Bangladesh
- All technical field notes
Visual evidence
Figures are taken from the released technical-note package. Interpret with the original methods and limitations.
Figure 1
Left: acceleration on the axis with the most motion in clip A, both band-passed the same way. Right: all filtered samples, three axes, three clips; the line marks equality.
Figure 2
Accumulated orientation difference between vision and the integrated gyroscope from the start of each clip; solid: gyroscope bias from Field Note #14 removed, dashed: raw gyroscope.
Figure 3
Left: rotation per 67 ms step in clip A, gyroscope (solid) and stereo vision (dashed). Right: vision − gyroscope difference for every solved step, three clips.
Figure 4
Clip A, first 36 s: head path and a sparse stereo point cloud (one keyframe per second), gravity-aligned with the accelerometer.
Explore Origin Data Lab
Official Website | Technical Field Notes | English Note | Korean Note
- Downloads last month
- 65