| { |
| "schema_version": "1.0", |
| "generated_by": "catalog.py", |
| "datasets": { |
| "euroc_mav": { |
| "physical_id": "euroc_mav", |
| "configs": [ |
| "euroc_mav_april", |
| "euroc_mav_chess" |
| ], |
| "n_configs": 2, |
| "collections_per_config": { |
| "euroc_mav_april": 2, |
| "euroc_mav_chess": 1 |
| }, |
| "n_cameras": [ |
| 2 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "radtan" |
| ], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.088 m", |
| "chessboard 7x6 square 0.06 m" |
| ], |
| "source_type": [ |
| "rosbag_topic" |
| ], |
| "tracks": [ |
| "camera-intrinsics", |
| "simulation (vs-GT)" |
| ], |
| "title": "EuRoC MAV calibration bags", |
| "source": "ETH Zurich ASL", |
| "homepage": "https://projects.asl.ethz.ch/datasets/euroc-mav/", |
| "license": "CC BY (attribution)", |
| "cite": "Burri2016EuRoC", |
| "camera_hw": "2x Aptina MT9V034 (Skybotix VI-Sensor), mono, ~11 cm baseline", |
| "resolution_fps": "752x480 @ 20 Hz", |
| "lens": "standard (~80 deg H)", |
| "imus": "ADIS16448 @ 200 Hz", |
| "hosted": "recipe", |
| "notes": "Hardware cam-IMU sync; april + checkerboard calib bags. Also the simulation-track GT config (vs Kalibr-wiki reference).", |
| "sensors": [ |
| "vi-sensor" |
| ] |
| }, |
| "hilti_2022": { |
| "physical_id": "hilti_2022", |
| "configs": [ |
| "hilti_2022" |
| ], |
| "n_configs": 1, |
| "collections_per_config": { |
| "hilti_2022": 6 |
| }, |
| "n_cameras": [ |
| 1, |
| 2 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "equidistant" |
| ], |
| "boards": [ |
| "apriltag 7x12 t36h11 tag 0.15 m" |
| ], |
| "source_type": [ |
| "rosbag_topic" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "Hilti-Oxford 2022 calibration bag", |
| "source": "Hilti SLAM Challenge 2022", |
| "homepage": "https://hilti-challenge.com/dataset-2022.html", |
| "license": "CC BY-NC-SA 3.0 (NonCommercial!)", |
| "cite": "Zhang2023HiltiOxford", |
| "camera_hw": "Sevensense Alphasense Core: 5x 0.4MP GS mono (Sony IMX287-class) \u2014 front stereo (11 cm) + 2 lateral + 1 up", |
| "resolution_fps": "720x540 @ 40 Hz", |
| "lens": "fisheye-ish wide (126x92 deg)", |
| "imus": "Bosch BMI085 @ 400 Hz (FPGA-synced)", |
| "hosted": "recipe", |
| "notes": "One calib bag; our 6 collections = cam0..cam4 individually + the cam0_cam1 front stereo pair.", |
| "sensors": [ |
| "alphasense-core" |
| ] |
| }, |
| "hilti_2023_handheld": { |
| "physical_id": "hilti_2023_handheld", |
| "configs": [ |
| "hilti_2023_handheld" |
| ], |
| "n_configs": 1, |
| "collections_per_config": { |
| "hilti_2023_handheld": 6 |
| }, |
| "n_cameras": [ |
| 1, |
| 2 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "equidistant" |
| ], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.08 m" |
| ], |
| "source_type": [ |
| "rosbag_topic" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "Hilti 2023 handheld ('Phasma') calibration bag", |
| "source": "Hilti SLAM Challenge 2023", |
| "homepage": "https://hilti-challenge.com/dataset-2023.html", |
| "license": "CC BY-NC-SA 3.0 (NonCommercial!)", |
| "cite": "Zhang2023HiltiOxford", |
| "camera_hw": "Sevensense Alphasense Core (same 5-cam head as 2022)", |
| "resolution_fps": "720x540 @ 10 Hz (published rosbag rate)", |
| "lens": "fisheye-ish wide (~126x92 deg)", |
| "imus": "Bosch BMI085 @ 200 Hz (published rate)", |
| "hosted": "recipe", |
| "notes": "Handheld device; 6 collections = cam0..cam4 individually + the cam0_cam1 front stereo pair.", |
| "sensors": [ |
| "alphasense-core" |
| ] |
| }, |
| "monado_msd": { |
| "physical_id": "monado_msd", |
| "configs": [ |
| "tum_mic" |
| ], |
| "n_configs": 1, |
| "collections_per_config": { |
| "tum_mic": 6 |
| }, |
| "n_cameras": [ |
| 2 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "equidistant" |
| ], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.03 m" |
| ], |
| "source_type": [ |
| "euroc" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "Monado SLAM Datasets \u2014 MIC camcalib sequences", |
| "source": "Collabora", |
| "homepage": "https://huggingface.co/datasets/collabora/monado-slam-datasets", |
| "license": "CC BY 4.0", |
| "cite": "deMayo2025Monado", |
| "camera_hw": "Valve Index HMD front stereo pair (sensor p/n unpublished), grayscale", |
| "resolution_fps": "2x 960x960 @ 54 Hz", |
| "lens": "fisheye (~120 deg, unofficial)", |
| "imus": "Valve Index 6-axis @ ~1000 Hz (not used: camera-only folders)", |
| "hosted": "recipe", |
| "notes": "Repo id 'tum_mic' is a misnomer (pending rename to monado_msd): MIC01..MIC11 camcalib image folders, Kalibr-style target.", |
| "sensors": [ |
| "valve-index" |
| ] |
| }, |
| "mvis_rig": { |
| "physical_id": "mvis_rig", |
| "configs": [ |
| "mvis_elp", |
| "mvis_elp_single", |
| "mvis_elp_t265", |
| "mvis_t265", |
| "mvis_t265_ds", |
| "mvis_t265_equidistant", |
| "mvis_t265_eucm", |
| "mvis_t265_fov" |
| ], |
| "n_configs": 8, |
| "collections_per_config": { |
| "mvis_elp": 5, |
| "mvis_elp_single": 5, |
| "mvis_elp_t265": 5, |
| "mvis_t265": 5, |
| "mvis_t265_ds": 5, |
| "mvis_t265_equidistant": 5, |
| "mvis_t265_eucm": 5, |
| "mvis_t265_fov": 5 |
| }, |
| "n_cameras": [ |
| 1, |
| 2 |
| ], |
| "shutter": [ |
| "global", |
| "rolling" |
| ], |
| "camera_models_benchmarked": [ |
| "double_sphere", |
| "equidistant", |
| "eucm", |
| "fov", |
| "radtan" |
| ], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.088 m" |
| ], |
| "source_type": [ |
| "rosbag_topic" |
| ], |
| "tracks": [ |
| "camera-intrinsics", |
| "rolling-shutter" |
| ], |
| "title": "VI-rig 4 IMUs + 4 cams (ours)", |
| "source": "ours (MVIS rig, Yang et al. IJRR 2024)", |
| "homepage": "https://huggingface.co/datasets/calibench-vi/datasets", |
| "license": "CC BY 4.0", |
| "cite": "Yang2024MVIS + Calibench", |
| "camera_hw": "ELP stereo module (2x RS, mono out) + Intel RealSense T265 (2x OV9282 GS fisheye, BMI055)", |
| "resolution_fps": "ELP 2x 640x480 @ 25 Hz; T265 2x 848x800 @ 30 Hz", |
| "lens": "ELP standard-wide; T265 ~163 deg fisheye", |
| "imus": "MicroStrain GX3-25 @ 500 Hz, GX3-35 @ 100 Hz, Xsens MTi-100 @ 400 Hz, T265 BMI055 @ 200 Hz", |
| "hosted": "hosted (virig-4imus-4cams)", |
| "notes": "5 apriltag bags; the ELP rolling-shutter pair seeds the rolling-shutter track (mvis_elp*). Rates/resolutions probed from the bags 2026-06-11.", |
| "sensors": [ |
| "elp-960p2cam-v90", |
| "t265", |
| "gx3-25", |
| "gx3-35", |
| "mti-100" |
| ] |
| }, |
| "penncosyvio": { |
| "physical_id": "penncosyvio", |
| "configs": [ |
| "penncosyvio", |
| "penncosyvio_ds", |
| "penncosyvio_eucm", |
| "penncosyvio_fov" |
| ], |
| "n_configs": 4, |
| "collections_per_config": { |
| "penncosyvio": 3, |
| "penncosyvio_ds": 1, |
| "penncosyvio_eucm": 1, |
| "penncosyvio_fov": 1 |
| }, |
| "n_cameras": [ |
| 1 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "ds", |
| "equidistant", |
| "eucm", |
| "fov" |
| ], |
| "boards": [ |
| "chessboard 7x6 square 0.108 m" |
| ], |
| "source_type": [ |
| "images" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "PennCOSYVIO GoPro intrinsic calibration", |
| "source": "UPenn (Daniilidis group)", |
| "homepage": "https://daniilidis-group.github.io/penncosyvio/", |
| "license": "no license stated \u2014 citation-only, no redistribution grant", |
| "cite": "Pfrommer2017PennCOSYVIO", |
| "camera_hw": "3x GoPro Hero 4 Black (rig cameras C1/C2/C3); we use the intrinsic_calib image sets", |
| "resolution_fps": "1920x1080 @ 30 Hz", |
| "lens": "wide (118x70 deg, not full fisheye)", |
| "imus": "none used (rig's VI-Sensor ADIS16488 @ 200 Hz not part of these sets)", |
| "hosted": "recipe", |
| "notes": "Rolling shutter, but calibrated as GS stills here (checkerboard intrinsic sets c1/c2/c3).", |
| "sensors": [ |
| "gopro-hero4" |
| ] |
| }, |
| "tum_double_sphere": { |
| "physical_id": "tum_double_sphere", |
| "configs": [ |
| "tum_fisheye_bf2m2020s23_ds", |
| "tum_fisheye_bf2m2020s23_equidistant", |
| "tum_fisheye_bf2m2020s23_eucm", |
| "tum_fisheye_bf2m2020s23_fov", |
| "tum_fisheye_bf5m13720_ds", |
| "tum_fisheye_bf5m13720_equidistant", |
| "tum_fisheye_bf5m13720_eucm", |
| "tum_fisheye_bf5m13720_fov", |
| "tum_fisheye_bm2820_ds", |
| "tum_fisheye_bm2820_equidistant", |
| "tum_fisheye_bm2820_eucm", |
| "tum_fisheye_bm2820_fov", |
| "tum_fisheye_bm4018s118_ds", |
| "tum_fisheye_bm4018s118_equidistant", |
| "tum_fisheye_bm4018s118_eucm", |
| "tum_fisheye_bm4018s118_fov", |
| "tum_fisheye_gopro_ds", |
| "tum_fisheye_gopro_equidistant", |
| "tum_fisheye_gopro_eucm", |
| "tum_fisheye_gopro_fov" |
| ], |
| "n_configs": 20, |
| "collections_per_config": { |
| "tum_fisheye_bf2m2020s23_ds": 3, |
| "tum_fisheye_bf2m2020s23_equidistant": 3, |
| "tum_fisheye_bf2m2020s23_eucm": 3, |
| "tum_fisheye_bf2m2020s23_fov": 3, |
| "tum_fisheye_bf5m13720_ds": 3, |
| "tum_fisheye_bf5m13720_equidistant": 3, |
| "tum_fisheye_bf5m13720_eucm": 3, |
| "tum_fisheye_bf5m13720_fov": 3, |
| "tum_fisheye_bm2820_ds": 3, |
| "tum_fisheye_bm2820_equidistant": 3, |
| "tum_fisheye_bm2820_eucm": 3, |
| "tum_fisheye_bm2820_fov": 3, |
| "tum_fisheye_bm4018s118_ds": 3, |
| "tum_fisheye_bm4018s118_equidistant": 3, |
| "tum_fisheye_bm4018s118_eucm": 3, |
| "tum_fisheye_bm4018s118_fov": 3, |
| "tum_fisheye_gopro_ds": 3, |
| "tum_fisheye_gopro_equidistant": 3, |
| "tum_fisheye_gopro_eucm": 3, |
| "tum_fisheye_gopro_fov": 3 |
| }, |
| "n_cameras": [ |
| 1 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "double_sphere", |
| "equidistant", |
| "eucm", |
| "fov" |
| ], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.088 m" |
| ], |
| "source_type": [ |
| "rosbag_topic" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "Double Sphere paper calibration sequences", |
| "source": "TUM CVG (Usenko, Demmel, Cremers 2018)", |
| "homepage": "https://cvg.cit.tum.de/research/vslam/double-sphere", |
| "license": "not specified by the dataset authors (verified 2026-06-14) \u2014 recipe-only, linked not re-hosted", |
| "cite": "Usenko2018DoubleSphere", |
| "camera_hw": "IDS uEye body (model not named in paper), 5 lens setups: Lensagon BF2M2020S23, BF5M13720, BM4018S118, BM2820, GoPro replacement lens", |
| "resolution_fps": "1280x1024 (body native; not stated in paper)", |
| "lens": "195 / 183 / 126 / 122 / 150 deg FOV per lens", |
| "imus": "none (camera-only)", |
| "hosted": "recipe", |
| "notes": "Was the unidentified 'tum_fisheye_*' source \u2014 identified 2026-06-11. 5 lenses x 3 apriltag sequences; the 'GoPro' is a replacement lens on the same body, not a GoPro camera. The wide lenses are exactly what DS/EUCM/FOV models exist for.", |
| "sensors": [ |
| "ueye-ui3241le", |
| "bf2m2020s23", |
| "bf5m13720", |
| "bm4018s118", |
| "bm2820", |
| "gopro-replacement-lens" |
| ] |
| }, |
| "tum_rgbd": { |
| "physical_id": "tum_rgbd", |
| "configs": [ |
| "tum_rgbd_bag" |
| ], |
| "n_configs": 1, |
| "collections_per_config": { |
| "tum_rgbd_bag": 9 |
| }, |
| "n_cameras": [ |
| 1 |
| ], |
| "shutter": [ |
| "rolling" |
| ], |
| "camera_models_benchmarked": [ |
| "radtan" |
| ], |
| "boards": [ |
| "chessboard 6x7 square 0.04 m; chessboard 6x8 square 0.025 m; chessboard 7x9 square 0.04 m" |
| ], |
| "source_type": [ |
| "rosbag_topic" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "TUM RGB-D calibration bags", |
| "source": "TUM CVG", |
| "homepage": "https://cvg.cit.tum.de/data/datasets/rgbd-dataset", |
| "license": "CC BY 4.0", |
| "cite": "Sturm2012RGBD", |
| "camera_hw": "Microsoft Kinect v1 (fr1/fr2), Asus Xtion Pro Live (fr3); RGB + IR calib bags", |
| "resolution_fps": "640x480 @ 30 Hz", |
| "lens": "standard", |
| "imus": "none used (Kinect accelerometer present in bags)", |
| "hosted": "recipe", |
| "notes": "9 calib bags across fr1/fr2/fr3: rgb, ir, and large-checkerboard variants.", |
| "sensors": [ |
| "kinect-v1", |
| "xtion-pro-live" |
| ] |
| }, |
| "tum_rs": { |
| "physical_id": "tum_rs", |
| "configs": [ |
| "tum_rs", |
| "tum_rs_raw" |
| ], |
| "n_configs": 2, |
| "collections_per_config": { |
| "tum_rs": 2, |
| "tum_rs_raw": 2 |
| }, |
| "n_cameras": [ |
| 2 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "equidistant" |
| ], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.088 m" |
| ], |
| "source_type": [ |
| "rosbag_topic" |
| ], |
| "tracks": [ |
| "camera-intrinsics", |
| "rolling-shutter" |
| ], |
| "title": "TUM rolling-shutter dataset calib", |
| "source": "TUM CVG", |
| "homepage": "https://cvg.cit.tum.de/data/datasets/rolling-shutter-dataset", |
| "license": "not specified by the dataset authors (verified 2026-06-14) \u2014 recipe-only, linked not re-hosted", |
| "cite": "Schubert2018DSORS", |
| "camera_hw": "2x IDS uEye UI-3241LE-M-GL, mono (left GS, right RS ~29.47 us/row readout)", |
| "resolution_fps": "1280x1024 @ 20 Hz", |
| "lens": "Lensagon BM4018S118 (~126 deg)", |
| "imus": "Bosch BMI160 @ 200 Hz", |
| "hosted": "recipe", |
| "notes": "Purpose-built RS benchmark: same camera model both sides, the right one runs rolling shutter (~29.47 us/row) in the evaluation sequences. The dedicated calib bags we use here are recorded with BOTH cameras in GS mode (the dataset's own protocol), which is why the configs say GS; the RS readout itself is what the rolling-shutter track will measure.", |
| "sensors": [ |
| "ueye-ui3241le", |
| "bm4018s118", |
| "bmi160" |
| ] |
| }, |
| "tum_vi": { |
| "physical_id": "tum_vi", |
| "configs": [ |
| "tum_vi_1024_ds", |
| "tum_vi_1024_equidistant", |
| "tum_vi_1024_eucm", |
| "tum_vi_1024_fov", |
| "tum_vi_raw", |
| "tum_vi_standard_1024", |
| "tum_vi_standard_512" |
| ], |
| "n_configs": 7, |
| "collections_per_config": { |
| "tum_vi_1024_ds": 8, |
| "tum_vi_1024_equidistant": 8, |
| "tum_vi_1024_eucm": 8, |
| "tum_vi_1024_fov": 8, |
| "tum_vi_raw": 8, |
| "tum_vi_standard_1024": 8, |
| "tum_vi_standard_512": 8 |
| }, |
| "n_cameras": [ |
| 2 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "double_sphere", |
| "equidistant", |
| "eucm", |
| "fov" |
| ], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.088 m" |
| ], |
| "source_type": [ |
| "rosbag_topic" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "TUM-VI calibration bags", |
| "source": "TUM CVG", |
| "homepage": "https://cvg.cit.tum.de/data/datasets/visual-inertial-dataset", |
| "license": "CC BY 4.0", |
| "cite": "Schubert2018TUMVI", |
| "camera_hw": "2x IDS uEye UI-3241LE-M-GL, mono", |
| "resolution_fps": "1024x1024 @ 20 Hz (512x512 downsampled variant)", |
| "lens": "fisheye Lensagon BF2M2020S23 (195 deg)", |
| "imus": "Bosch BMI160 @ 200 Hz", |
| "hosted": "recipe", |
| "notes": "Hardware-synced; 16-bit linear images with vignette calibration; 8 calib bags (cam1..cam8).", |
| "sensors": [ |
| "ueye-ui3241le", |
| "bf2m2020s23", |
| "bmi160" |
| ] |
| }, |
| "tum_vie": { |
| "physical_id": "tum_vie", |
| "configs": [ |
| "tum_event" |
| ], |
| "n_configs": 1, |
| "collections_per_config": { |
| "tum_event": 4 |
| }, |
| "n_cameras": [ |
| 2 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "equidistant" |
| ], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.088 m" |
| ], |
| "source_type": [ |
| "images" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "TUM-VIE calibration (frame cameras)", |
| "source": "TUM CVG", |
| "homepage": "https://cvg.cit.tum.de/data/datasets/visual-inertial-event-dataset", |
| "license": "CC BY 4.0", |
| "cite": "Klenk2021TUMVIE", |
| "camera_hw": "2x IDS uEye UI-3241LE-M-GL, mono (the rig's 2x Prophesee GEN4-CD event cameras are not used here)", |
| "resolution_fps": "1024x1024 @ 20 Hz", |
| "lens": "Lensagon BM4018S118 (101x76 deg)", |
| "imus": "Bosch BMI160 @ 200 Hz (not used: camera-only image folders)", |
| "hosted": "recipe", |
| "notes": "calibA/calibB apriltag sequences, extracted image folders; visual stereo baseline 10.86 cm.", |
| "sensors": [ |
| "ueye-ui3241le", |
| "bm4018s118", |
| "bmi160" |
| ] |
| }, |
| "urban_fisheye": { |
| "physical_id": "urban_fisheye", |
| "configs": [ |
| "fisheye1_ds", |
| "fisheye1_eucm", |
| "fisheye1_fov", |
| "fisheye2_ds", |
| "fisheye2_eucm", |
| "fisheye2_fov", |
| "fisheye_dataset", |
| "gopro_ds", |
| "gopro_eucm", |
| "gopro_fov" |
| ], |
| "n_configs": 10, |
| "collections_per_config": { |
| "fisheye1_ds": 1, |
| "fisheye1_eucm": 1, |
| "fisheye1_fov": 1, |
| "fisheye2_ds": 1, |
| "fisheye2_eucm": 1, |
| "fisheye2_fov": 1, |
| "fisheye_dataset": 3, |
| "gopro_ds": 1, |
| "gopro_eucm": 1, |
| "gopro_fov": 1 |
| }, |
| "n_cameras": [ |
| 1 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "ds", |
| "equidistant", |
| "eucm", |
| "fov" |
| ], |
| "boards": [ |
| "chessboard 6x8 square 0.0325 m", |
| "chessboard 6x8 square 0.0325 m; chessboard 6x8 square 0.117 m", |
| "chessboard 6x8 square 0.117 m" |
| ], |
| "source_type": [ |
| "images" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "ImprovedOcamCalib fisheye sets", |
| "source": "KIT (Urban, Leitloff, Hinz 2015)", |
| "homepage": "https://github.com/urbste/ImprovedOcamCalib", |
| "license": "GPL v2 (copyleft!)", |
| "cite": "Urban2015ImprovedOcamCalib", |
| "camera_hw": "Fisheye1: Lensation BF2M15520 (f=1.55mm) on GigE camera; Fisheye2: Lensation BF2M12520 (f=1.25mm) on VRmagic USB; GoPro: GoPro Hero (model unstated)", |
| "resolution_fps": "still checkerboard images (resolutions unstated)", |
| "lens": "~185 deg (Fisheye1/2), GoPro wide", |
| "imus": "none (camera-only stills)", |
| "hosted": "recipe", |
| "notes": "Three DIFFERENT physical cameras \u2014 the combined 'fisheye_dataset' config treats them as collections, so cross-collection repeatability is invalid there (excluded from repeat_intrinsics_px).", |
| "sensors": [ |
| "bf2m15520", |
| "bf2m12520", |
| "gopro-hero" |
| ] |
| }, |
| "virig": { |
| "physical_id": "virig", |
| "configs": [ |
| "virig_flir", |
| "virig_flir_t265", |
| "virig_t265" |
| ], |
| "n_configs": 3, |
| "collections_per_config": { |
| "virig_flir": 5, |
| "virig_flir_t265": 5, |
| "virig_t265": 5 |
| }, |
| "n_cameras": [ |
| 1, |
| 2 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [ |
| "equidistant", |
| "radtan" |
| ], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.088 m" |
| ], |
| "source_type": [ |
| "rosbag_topic" |
| ], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "title": "VI-rig 4 IMUs + 3 cams (ours)", |
| "source": "ours (MVIS rig, Yang et al. IJRR 2024)", |
| "homepage": "https://huggingface.co/datasets/calibench-vi/datasets", |
| "license": "CC BY 4.0", |
| "cite": "Yang2024MVIS + Calibench", |
| "camera_hw": "FLIR Blackfly S BFS-U3-16S2M (Sony IMX273, GS, mono) + Intel RealSense T265 (2x OV9282 GS fisheye, BMI055)", |
| "resolution_fps": "Blackfly 720x540 @ 30 Hz (2x2 binned from 1440x1080); T265 2x 848x800 @ 30 Hz", |
| "lens": "Blackfly standard; T265 ~163 deg fisheye", |
| "imus": "MicroStrain GX3-25 @ 500 Hz, GX3-35 @ 100 Hz, Xsens MTi-100 @ 400 Hz, T265 BMI055 @ 200 Hz", |
| "hosted": "hosted (virig-4imus-3cams)", |
| "notes": "5 apriltag bags; rates/resolutions probed from the bags 2026-06-11.", |
| "sensors": [ |
| "bfs-u3-16s2m", |
| "t265", |
| "gx3-25", |
| "gx3-35", |
| "mti-100" |
| ] |
| }, |
| "virig_5imus_4cams": { |
| "physical_id": "virig_5imus_4cams", |
| "configs": [], |
| "n_configs": 0, |
| "collections_per_config": {}, |
| "n_cameras": [ |
| 4 |
| ], |
| "shutter": [ |
| "global" |
| ], |
| "camera_models_benchmarked": [], |
| "boards": [ |
| "apriltag 6x6 t36h11 tag 0.088 m" |
| ], |
| "source_type": [], |
| "tracks": [ |
| "camera-intrinsics" |
| ], |
| "hosted_only": true, |
| "title": "VI-rig 5 IMUs + 4 cams (ours)", |
| "source": "ours (RPNG VI sensor rig, 5 IMUs)", |
| "homepage": "https://huggingface.co/datasets/calibench-vi/datasets", |
| "license": "CC BY 4.0", |
| "cite": "Calibench", |
| "camera_hw": "2x Intel RealSense T265 (each 2x OV9282 GS fisheye, BMI055) = 4 fisheye cams", |
| "resolution_fps": "4x 848x800 @ 30 Hz (two T265 stereo pairs: t265_01, t265_03)", |
| "lens": "T265 ~163 deg fisheye (x2 units)", |
| "imus": "MicroStrain GX3-25 @ 500 Hz, GX3-35 @ 100 Hz, Xsens MTi @ 400 Hz, 2x T265 BMI055 @ 200 Hz (5 IMUs)", |
| "imu_topics": "/gx3_25/data, /gx3_35/imu/data, /mti/sensor/imu_raw, /t265_01/imu, /t265_03/imu", |
| "hosted": "hosted (virig-5imus-4cams)", |
| "notes": "7 kalibr AprilGrid bags (40-64 s each, 27.84 GB); 5 IMUs + 4 cams (two T265 stereo fisheye pairs). Topics/rates probed from the bags 2026-06-20. No calibration results yet \u2014 uploaded for benchmarking.", |
| "sensors": [ |
| "t265", |
| "gx3-25", |
| "gx3-35", |
| "mti-100" |
| ] |
| } |
| } |
| } |
|
|
