A multi-pitch multi-speed dataset for embodied spatial cognition evaluation in a virtual urban environment

It provides first-person RGB images from 11 distinct navigation routes, captured at 4 different pitch angles and 3 different speed modes, with precise pose information for each frame.</p><p dir="ltr">## Dataset Statistics</p><p dir="ltr">- Total frames: 57,349</p><p dir="ltr">- Navigation tasks: 132 (11 routes x 4 pitch angles x 3 speed modes)</p><p dir="ltr">- Total size: ~12.25 GB</p><p dir="ltr">- Image resolution: 1280 x 720 (PNG)</p><p dir="ltr">- Frame rate: 10 fps</p><p dir="ltr">- City size: 100 x 100 </p><p dir="ltr">- Buildings: 38</p><p dir="ltr">- Waypoints: 32</p><p><br></p><p dir="ltr">## Speed Modes</p><p dir="ltr">- sm1 (speedMode_1): Constant speed of 4.32 between waypoints</p><p dir="ltr">- sm2 (speedMode_2): Constant speed of 2.59 between waypoints</p><p dir="ltr">- sm3 (speedMode_3): Accelerating from 2.59 to 5.18 between waypoints</p><p><br></p><p dir="ltr">## File Structure</p><p dir="ltr">This dataset is split into 34 zip archives.

Download all files and extract them into the same directory to reconstruct the original folder structure.</p><p><br></p><p dir="ltr">File naming:</p><p dir="ltr">- city_vpr_sm1_route1.zip ~ city_vpr_sm1_route11.zip (speedMode_1)</p><p dir="ltr">- city_vpr_sm2_route1.zip ~ city_vpr_sm2_route11.zip (speedMode_2)</p><p dir="ltr">- city_vpr_sm3_route1.zip ~ city_vpr_sm3_route11.zip (speedMode_3)</p><p dir="ltr">- city_vpr_metadata.zip (auxiliary files)</p><p><br></p><p dir="ltr">## Directory Structure</p><p><br></p><p dir="ltr">### city_vpr_metadata.zip</p><p dir="ltr">city_vpr_metadata/</p><p dir="ltr">├── route_maps/ # 11 route map SVGs (top-down view)</p><p dir="ltr">├── buildings.json # Building positions and dimensions</p><p dir="ltr">├── city_map.svg # City road map (top-down view)</p><p dir="ltr">├── data_quality_report.json # Data quality check report</p><p dir="ltr">├── dataset_metadata.json # Structured metadata</p><p dir="ltr">├── README.md # Dataset documentation</p><p dir="ltr">├── routes.json # Waypoint sequence for each of the 11 routes</p><p dir="ltr">└── waypoints.json # 32 waypoint coordinates</p><p><br></p><p dir="ltr">### city_vpr_smi_routej.zip (e.g., city_vpr_sm1_route1.zip = speedMode_1, route 1)</p><p dir="ltr">city_vpr_smi_routej/</p><p dir="ltr">├── pitch_0/ # Forward horizontal (0 degrees)</p><p dir="ltr">│ ├── r1_pitch0_1.png # Image frames</p><p dir="ltr">│ ├── r1_pitch0_2.png</p><p>│ ├── ...</p><p dir="ltr">│ ├── record.txt # Raw record: timestamp, XYZ, facing, pitch, speed</p><p dir="ltr">│ └── trajectory.csv # Structured: timestamp, XYZ, facing, pitch, speed</p><p dir="ltr">├── pitch_30/ # 30 degrees downward</p><p dir="ltr">│ ├── (same structure)</p><p dir="ltr">├── pitch_60/ # 60 degrees downward</p><p dir="ltr">│ ├── (same structure)</p><p dir="ltr">└── pitch_90/ # Straight down (90 degrees)</p><p dir="ltr"> └── (same structure)</p><p><br></p><p dir="ltr">where i = speed mode (1, 2, or 3), j = route number (1 to 11)</p><p><br></p><p dir="ltr">## Data Collection Platform</p><p dir="ltr">Collected using