---
pretty_name: "Calibench: Community Datasets"
license: cc-by-4.0
viewer: false        # no previewable tabular data; contributions are ROS bags / recipes
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).