| --- |
| pretty_name: "Calibench: Community Datasets" |
| license: cc-by-4.0 |
| viewer: false |
| tags: |
| - calibration |
| - camera-calibration |
| - camera-imu-calibration |
| - visual-inertial |
| - benchmark |
| --- |
| |
| # Calibench: Community Datasets |
|
|
| Community-contributed calibration datasets for the |
| [**Calibench**](https://huggingface.co/calibench-vi) benchmark — sensor rigs, |
| lenses, and capture conditions beyond the |
| [official collection](https://huggingface.co/datasets/calibench-vi/datasets). |
|
|
| ## Contributing a dataset |
|
|
| Open a **PR to this repo** (Community tab → *New pull request*) with a folder |
| per config (`<your-rig>/` holding the sequences + target config) and a |
| `<your-rig>/README.md` filled from [`TEMPLATE/README.md`](./TEMPLATE/README.md). |
| **Filled examples** (our own MVIS rig): |
| [`virig-3cams`](https://huggingface.co/datasets/calibench-vi/datasets/blob/main/virig-3cams/README.md) · |
| [`virig-4cams`](https://huggingface.co/datasets/calibench-vi/datasets/blob/main/virig-4cams/README.md). |
| The metadata below is exactly one row of the official |
| [dataset catalog](https://huggingface.co/datasets/calibench-vi/results/blob/main/datasets.json) — |
| declare it so your dataset drops into the catalog (and becomes eligible as a |
| leaderboard roster) without guesswork. |
|
|
| *These requirements are themselves open to improvement — PR this README or use |
| the Community tab to propose changes.* |
|
|
| ### Required metadata (✅ required · ◽ recommended) |
|
|
| | Field | Req. | What to provide | Example | |
| |---|---|---|---| |
| | **Sensors — per camera** | | | | |
| | Camera sensor | ✅ | Sensor model / part number | OmniVision OV9282 | |
| | Resolution / fps | ✅ | Per camera | 848×800 @ 30 Hz | |
| | Shutter | ✅ | global / rolling; if rolling: line readout time if known | rolling, 29.47 µs/row | |
| | Color / encoding | ✅ | mono or color; pixel encoding | mono8 | |
| | Lens | ◽ | Lens model + focal length if known | Lensagon BF2M2020S23 | |
| | FOV | ✅ | Degrees (state diagonal or H×V); fisheye/wide/standard | 195° diagonal, fisheye | |
| | **Sensors — per IMU** (if any) | | | | |
| | IMU model | ✅ | Part number | Bosch BMI160 | |
| | Rates | ✅ | Gyro **and** accel rates separately if they differ | gyro 200 Hz, accel 62.5 Hz | |
| | Noise characteristics | ◽ | Noise density / bias instability if characterized | from Allan variance | |
| | **Rig / device** | | | | |
| | Synchronization | ✅ | hw-trigger / sw / free-running clocks; known offsets; which clock stamps the data | FPGA-synced cams+IMU | |
| | Rig layout | ✅ | #cams/#IMUs, arrangement, nominal baselines, rigid mounting | stereo, 11 cm baseline | |
| | Rig photo | ◽ | Strongly encouraged | `rig.jpg` | |
| | Datasheet links | ◽ | Manufacturer page/PDF per sensor | intel.com/…/t265 | |
| | Reference calibration | ◽ | Factory/prior calibration **with provenance** (who, which tool, when) — *reference, not ground truth* unless it has uncertainty | T265 factory intrinsics | |
| | **Calibration target** | | | | |
| | Target type + geometry | ✅ | aprilgrid/checkerboard/ChArUco; rows×cols, tag/square size (**measured, not nominal — say which**), spacing, family | AprilGrid 6×6, 8.8 cm, t36h11 | |
| | Target config file | ✅ | The file itself, in the dataset folder | `april.yaml` | |
| | Physical realization | ◽ | Material/flatness; how the size was verified | foam board, calipers | |
| | **Capture & data** | | | | |
| | Sequences | ✅ | Count + what distinguishes them; **same physical rig per config?** (sequences become repeatability folds) | 5 bags, same rig | |
| | Capture protocol | ✅ | Motion (axes excited), duration, lighting, known artifacts (blur, drops) | full 6-DoF excitation, indoor | |
| | Format | ✅ | ROS bag preferred (one per sequence) + topic list; else timestamped folders + IMU CSV with exact format | `/cam0/image_raw` … | |
| | Ground truth | ◽ | Mocap/laser-tracker: system, rate, accuracy | OptiTrack @ 120 Hz | |
| | **Legal** | | | | |
| | License | ✅ | CC-BY-4.0 grant for hosted data, or a `download.py` recipe (manifest + sha256) for data you cannot relicense — never re-hosted third-party bytes | CC-BY-4.0 | |
| | Citation | ✅ | Required BibTeX | `@article{…}` | |
| | Contact | ✅ | Maintainer contact | you@lab.edu | |
|
|
| By contributing you affirm you have the right to share the data under the |
| license you grant. Accepted datasets are added to the Calibench collection and |
| become eligible as leaderboard tracks/rosters. |
|
|
| Submitting **results** instead? See |
| [`yangyulin/calibench-submissions`](https://github.com/yangyulin/calibench-submissions) |
| (SUBMISSION.md). |
|
|
