Who owns raw footage?
I am not a lawyer, but I played one on TV.

If the contract wasn't specific then you might have some wiggle room. Typically contract law (varies by state) says that if the contract is unclear then it favors the person who didn't write it. So if they provided you an unclear contract it favors you when it isn't clear.

Unfortunately if they hired you to create the "work" of the footage, then it may be a "work for hire":


  A "work made for hire" is— (1) a work prepared by an employee within the scope of his or her employment; or (2) a work specially ordered or commissioned for use as a contribution to a collective work, as a part of a motion picture or other audiovisual work, as a translation, as a supplementary work, as a compilation, as an instructional text, as a test, as answer material for a test, or as an atlas, if the parties expressly agree in a written instrument signed by them that the work shall be considered a work made for hire. (17 U.S.C. § 101)


Read up on work for hire, but generally speaking, unless the contract states otherwise, if you are hired / contracted to create something, the party paying you owns your work.

BTW, to be a work for hire doesn't mean they paid you cash. They could be paying you in work experience.