diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..993a073fefe2198a3c52f1bbc950d45d1bf66f84 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,61 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+accesible_message_pole/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+beaten_up_cone/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+black_stoke/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+black_stoke_2/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+concrete_bollard/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+cone_portrait/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+dirt_cylinder/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+do_not_enter_sign/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+fire_hydrant_blue/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+fire_hydrant_white/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+garbage_portrait/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+metal_bollard/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+metal_pole/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+no_parking_curb/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+no_parking_sign/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+old/concrete_bollard_old/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+old/fire_hydrant_white_old/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+old/traffic_delineator_old/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+old/traffic_delineator_old/colmap/database.db-wal filter=lfs diff=lfs merge=lfs -text
+old/yellow_pole_old/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+orange_cylinder_thing/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+parking_meter/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+pole_no_stop_sign/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+private_property_sign/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+road_closed_sign/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+sand_cone/colmap/database.db filter=lfs diff=lfs merge=lfs -text
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+traffic_delineator/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+ucsf_permit_moto_sign/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+vehicle_loading_sign/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+white_pole_thing/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+yellow_pole/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+bin_compost/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+bollard_black_square/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+bollard_black_square_no_parking/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+bollard_concrete/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+bollard_metal/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+bollard_retractable/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+bollard_white_with_light/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+bollard_yellow/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+button_crosswalk_accessible/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+cone_medium_worn/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+cone_small_orange/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+cone_small_white_band/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+curb_fire_lane/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+delineator_post/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+drain_landscape/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+hydrant_blue_top/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+hydrant_white/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+sign_do_not_enter/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+sign_permit_motorcycle_parking/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+sign_pole_no_stopping/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+sign_private_property_tow_zone/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+sign_road_closed/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+sign_stand_no_parking/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+sign_stop/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+sign_vehicle_loading/colmap/database.db filter=lfs diff=lfs merge=lfs -text
+traffic_barrel/colmap/database.db filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..2cd88ac5af2d8b7976774e81912f829367893a63
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+
+*.txt
+*.py
\ No newline at end of file
diff --git a/README.md b/README.md
index 7be5fc7f47d5db027d120b8024982df93db95b74..fdf1c5fbc4d1255cb072536cf504ec4908d3d618 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,42 @@
----
-license: mit
----
+# Urban3D Dataset (Sample)
+
+This is a sample subset of the Urban3D dataset, demonstrating the structure and format of our large-scale collection of real-world, object-centric multiview videos and 3D reconstructions for advancing machine learning research in autonomous systems, smart infrastructure, and urban scene understanding.
+
+## Dataset Overview
+
+This sample includes select examples from our dataset which contains:
+- 10,000+ multiview videos across urban categories
+- Categories include: traffic signage, dumpsters, construction equipment, e-scooters, road hazards, and more
+- Each object derived from single video sequences
+- Processed through custom COLMAP-based pipeline
+
+## Technical Details
+
+Each dataset entry includes:
+- High-resolution RGB frames
+- COLMAP-derived camera poses
+- COLMAP database with feature matches
+- Sparse 3D point clouds
+- Distortion-aware camera intrinsics and extrinsics
+- NeRF-ready transforms.json
+- Original video file for traceability
+
+## Pipeline Features
+
+The dataset processing pipeline supports:
+- Structure-from-Motion (SfM) via COLMAP
+- Optimized SIFT feature extraction
+- Optional image undistortion
+- Gaussian Splatting compatibility
+- Clean, calibrated geometry for:
+  - NeRF training
+  - Gaussian splat generation
+  - Simulation workflows
+
+## License
+
+MIT License
+
+## Contact
+
+For questions or support, please contact team@zeroframe.ai
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new file mode 100644
index 0000000000000000000000000000000000000000..0ca72a47c350b5116fd8b2fc35c432fd519f67ad
--- /dev/null
+++ b/bin_compost/annotations.json
@@ -0,0 +1,6 @@
+{
+    "id": "bin_compost",
+    "caption_short": "A green compost bin on a city sidewalk",
+    "caption_long": "A green wheeled compost bin labeled 'Recology' and 'Compostables' is placed on a city sidewalk near a green bike lane. The bin has a hinged lid and warning labels, and appears to be intended for organic waste collection."
+  }
+  
\ No newline at end of file
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+    "caption_long": "A cylindrical retractable bollard made of stainless steel, embedded into the sidewalk near a street. It features a reflective white band near the top and is designed to be lowered into the ground to allow temporary vehicle access."
+  }
+  
\ No newline at end of file
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+  }
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+  }
+  
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+  }
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+    "caption_long": "A standard red octagonal stop sign with white lettering, mounted high on a pole between modern residential buildings. Positioned at an urban intersection, the sign is partially silhouetted against a clear blue sky and surrounded by trees and glass-fronted apartments."
+  }
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+    "caption_short": "A commercial vehicle loading and parking sign on a pole",
+    "caption_long": "A black and white street sign mounted on a pole in front of a commercial building, indicating 'Pay at Pay Station – Commercial Vehicle Loading/Unloading – 1 Hr. Parking – Mon–Fri 7 AM to 10 PM.' The sign designates specific parking rules for commercial vehicles during business hours."
+  }
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+{
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+}
\ No newline at end of file
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--- /dev/null
+++ b/traffic_barrel/annotations.json
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+{
+    "id": "traffic_barrel",
+    "caption_short": "An orange traffic barrel with a torn warning label",
+    "caption_long": "A large orange traffic barrel with a rounded top and black base, placed on a concrete sidewalk. The barrel features a partially torn label warning not to move or remove it, indicating its use in temporary traffic control or pedestrian redirection."
+  }
+  
\ No newline at end of file
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\ No newline at end of file