# 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