Task_102 · 未来近场风险 Demo

视觉效果展示；Raw Dataset Report 只展示原始 source。

Input → Target

Input · 当前 RGB

Target · 未来风险 overlay

prompt.txt（完整内容）

Predict near-field collision risk over the next 0.8 seconds and highlight the future-risk regions as a red overlay on the RGB video.

metadata.json（完整内容）

{
  "task_id": "Task_102_near_field_obstacle_warning",
  "sample_id": "000000000",
  "sequence": "rgbd_dataset_freiburg1_xyz",
  "source": "TUM RGB-D Dataset",
  "license": "CC BY 4.0",
  "frames": 120,
  "depth_scale": 5000.0,
  "warning_distance_m": 1.2,
  "future_horizon_s": 0.8,
  "target_definition": "future depth at t+h projected as a deterministic risk supervision overlay on RGB at t",
  "prediction_scope": "future near-field occupancy proxy; not a guaranteed collision event",
  "projection": "future depth backprojected to 3D and reprojected into current RGB using TUM ground-truth poses and Freiburg1 intrinsics",
  "max_rgb_depth_delta_s": 0.016061782836914062,
  "mean_warning_fraction": 0.10263513594400138
}

这是未来近场占用 proxy，不保证真实物理碰撞；target 使用真实 depth 和相机位姿监督生成。