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Open MVIS

Monado MGC (HP Reverb G2)

HP Reverb G2 headset, front view
Photo: HP, Reverb G2 press release

The MGC calibration recordings of the Monado SLAM Datasets, made with an HP Reverb G2 headset.

2 headset camerasheadset IMUAprilGrid 6×6, 30 mm CC BY 4.0

Batch 2026-11-08a · results commit e893730 · Leaderboard · Methodology

How MVIS calibrates it → ExampleThe device → Device wiki

Repeatability, not accuracy. There is no ground truth: a small spread shows that a tool repeats, not that it is right, and a difference shows that two tools disagree, not which one is wrong. The MVIS authors made every run, including Kalibr and Basalt.

Repeatability

Section titled “Repeatability”
Monado MGC: which tool repeats more tightly, per family and group of parameters
Family Focal + pp pxDistortionDistance mmTime offset msCam–IMU distance mmGyroAccel
T5 · camera n = 4 matched cam0 + cam1 stereo n = 4 · too few n = 4 · too few a n = 4 · too few ————
T12 · cam+IMU n = 4 matched cam0 + cam1 + IMU n = 4 · too few n = 4 · too few a n = 4 · too few n = 4 · too few bc n = 4 · too few b n = 4 · too few bd n = 4 · too few bd
T5 · camera · cam0 + cam1 stereo Too few recordings (n = 4) n = 4 matched · MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4
T12 · cam+IMU · cam0 + cam1 + IMU Too few recordings (n = 4) n = 4 matched · MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4

MVIS Kalibr Basalt tool ×k more repeatable: the other tools' typical scatter is k times larger Tie gap within chance or under 20 % too few under 6 shared recordings input no comparison, reason in the cell

k = the looser tool's typical scatter divided by the tighter tool's (median over the group's parameters, on the recordings every compared tool ran). Click a cell for its numbers.

  1. a Coefficients trade off against each other, so their scatter can overstate differences in the lens mapping.
  2. b Kalibr starts from MVIS camera values for each recording; its spread here includes the spread of that input.
  3. c MVIS also fits a gyro–accel delay (t_ga) that Kalibr and Basalt do not, so its td is not quite the same quantity.
  4. d MVIS here uses Kalibr's IMU model, so the gyro and accel terms mean the same thing in both tools.

Each cell is a separate comparison on the recordings every compared tool ran. Cells are not added up and nothing is ordered across datasets.

Not part of this comparison
  • T12 reprojection error (2 rows): fit quality, not repeatability and not accuracy
  • T12 IMU g-sensitivity Tg (9 rows): Kalibr absorbs it in its IMU model
  • T12 gyro–accel delay t_ga (1 row): MVIS only
Focal length + principal point · T5 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · cam0 + cam1 stereo, camera

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its camera-only run.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 8 param. 0.69not bounded at n = 4 1 (raw 0.38) too few recordings
MVIS ÷ Basalt · 8 param. 0.72not bounded at n = 4 1 (raw 0.38) too few recordings
Kalibr ÷ Basalt · 8 param. 1.02not bounded at n = 4 1 too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.69 · too few recordingsMVIS ÷ KalibrMVIS ÷ Basalt: R = 0.72 · too few recordingsMVIS ÷ BasaltKalibr ÷ Basalt: R = 1.02 · too few recordingsKalibr ÷ Basalt
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Kalibr sd Basalt sd
Reverb G2 cam0 · fx px 0.0452 0.803 0.175
Reverb G2 cam0 · fy px 0.0771 0.758 0.154
Reverb G2 cam0 · cx px 0.225 0.329 0.334
Reverb G2 cam0 · cy px 0.187 0.186 0.221
Reverb G2 cam1 · fx px 0.176 0.096 0.167
Reverb G2 cam1 · fy px 0.152 0.112 0.163
Reverb G2 cam1 · cx px 0.235 0.341 0.306
Reverb G2 cam1 · cy px 0.159 0.288 0.275

Repeatability only — a tool can repeat well and still be biased.

Distortion coefficients · T5 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · cam0 + cam1 stereo, camera

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its camera-only run.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 8 param. 0.23not bounded at n = 4 0.38 (raw 0.12) too few recordings
MVIS ÷ Basalt · 8 param. 2.55not bounded at n = 4 0.38 (raw 0.12) too few recordings
Kalibr ÷ Basalt · 8 param. 8.92not bounded at n = 4 0.38 (raw 0.12) too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.23 · too few recordingsMVIS ÷ KalibrMVIS ÷ Basalt: R = 2.55 · too few recordingsMVIS ÷ BasaltKalibr ÷ Basalt: R = 8.92 · too few recordingsKalibr ÷ Basalt
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Kalibr sd Basalt sd
Reverb G2 cam0 · dist k1 0.00215 0.0313 0.00202
Reverb G2 cam0 · dist k2 0.00772 0.111 0.00381
Reverb G2 cam0 · dist k3 0.0113 0.15 0.00445
Reverb G2 cam0 · dist k4 0.00538 0.0678 0.0021
Reverb G2 cam1 · dist k1 0.0031 0.00473 0.00125
Reverb G2 cam1 · dist k2 0.0136 0.0166 0.00323
Reverb G2 cam1 · dist k3 0.0201 0.022 0.00457
Reverb G2 cam1 · dist k4 0.00944 0.00978 0.00224
  • a Coefficients trade off against each other, so their scatter can overstate differences in the lens mapping.

Repeatability only — a tool can repeat well and still be biased.

Camera–camera distance · T5 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · cam0 + cam1 stereo, camera

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its camera-only run.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 1 param. 1.19not bounded at n = 4 1 (raw 0.62) too few recordings
MVIS ÷ Basalt · 1 param. 1.28not bounded at n = 4 1 (raw 0.5) too few recordings
Kalibr ÷ Basalt · 1 param. 1.07not bounded at n = 4 0.75 (raw 0.25) too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 1.19 · too few recordingsMVIS ÷ KalibrMVIS ÷ Basalt: R = 1.28 · too few recordingsMVIS ÷ BasaltKalibr ÷ Basalt: R = 1.07 · too few recordingsKalibr ÷ Basalt
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Kalibr sd Basalt sd
Reverb G2 cam1 · baseline to Reverb G2 cam0 mm 0.0513 0.0429 0.0402

Repeatability only — a tool can repeat well and still be biased.

Focal length + principal point · T12 · 4 matched recordings (MVIS 4 of 4 · Kalibr input · Basalt 4 of 4) · cam0 + cam1 + IMU, cam+IMU

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its default IMU model.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Basalt · 8 param. 0.92not bounded at n = 4 0.62 too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Basalt: R = 0.92 · too few recordingsMVIS ÷ Basalt
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Basalt sdRatio
Reverb G2 cam0 · fx px 0.144 0.143 1.01
Reverb G2 cam0 · fy px 0.145 0.147 0.99
Reverb G2 cam0 · cx px 0.0494 0.122 0.40
Reverb G2 cam0 · cy px 0.056 0.0653 0.86
Reverb G2 cam1 · fx px 0.161 0.138 1.17
Reverb G2 cam1 · fy px 0.136 0.132 1.03
Reverb G2 cam1 · cx px 0.0952 0.139 0.68
Reverb G2 cam1 · cy px 0.0899 0.107 0.84
Not in this comparison
  • Kalibr · input, not compared · 8 rows: Kalibr's camera+IMU run starts from these values, exported from MVIS for each recording, and keeps them fixed. Their spread copies the input, so it is not Kalibr's repeatability.

Repeatability only — a tool can repeat well and still be biased.

Distortion coefficients · T12 · 4 matched recordings (MVIS 4 of 4 · Kalibr input · Basalt 4 of 4) · cam0 + cam1 + IMU, cam+IMU

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its default IMU model.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Basalt · 8 param. 1.05not bounded at n = 4 0.75 too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Basalt: R = 1.05 · too few recordingsMVIS ÷ Basalt
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Basalt sdRatio
Reverb G2 cam0 · dist k1 0.00149 0.00183 0.81
Reverb G2 cam0 · dist k2 0.00279 0.00581 0.48
Reverb G2 cam0 · dist k3 0.00294 0.00819 0.36
Reverb G2 cam0 · dist k4 0.00125 0.00364 0.34
Reverb G2 cam1 · dist k1 0.00203 0.0015 1.35
Reverb G2 cam1 · dist k2 0.00744 0.00467 1.59
Reverb G2 cam1 · dist k3 0.00992 0.00597 1.66
Reverb G2 cam1 · dist k4 0.00441 0.00246 1.79
Not in this comparison
  • Kalibr · input, not compared · 8 rows: Kalibr's camera+IMU run starts from these values, exported from MVIS for each recording, and keeps them fixed. Their spread copies the input, so it is not Kalibr's repeatability.
  • a Coefficients trade off against each other, so their scatter can overstate differences in the lens mapping.

Repeatability only — a tool can repeat well and still be biased.

Camera–camera distance · T12 · 4 matched recordings (MVIS 4 of 4 · Kalibr input · Basalt 4 of 4) · cam0 + cam1 + IMU, cam+IMU

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its default IMU model.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Basalt · 1 param. 3.11not bounded at n = 4 0.38 too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Basalt: R = 3.11 · too few recordingsMVIS ÷ Basalt
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Basalt sdRatio
Reverb G2 cam1 · baseline to Reverb G2 cam0 mm 0.0382 0.0123 3.11
Not in this comparison
  • Kalibr · input, not compared · 1 row: Kalibr's camera+IMU run starts from these values, exported from MVIS for each recording, and keeps them fixed. Their spread copies the input, so it is not Kalibr's repeatability.

Repeatability only — a tool can repeat well and still be biased.

Camera–IMU time offset · T12 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · cam0 + cam1 + IMU, cam+IMU

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its default IMU model.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 2 param. 0.49not bounded at n = 4 0.38 (raw 0.12) too few recordings
MVIS ÷ Basalt · 2 param. 1.61not bounded at n = 4 0.38 (raw 0.25) too few recordings
Kalibr ÷ Basalt · 2 param. 3.27not bounded at n = 4 0.38 (raw 0.12) too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.49 · too few recordingsMVIS ÷ KalibrMVIS ÷ Basalt: R = 1.61 · too few recordingsMVIS ÷ BasaltKalibr ÷ Basalt: R = 3.27 · too few recordingsKalibr ÷ Basalt
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Kalibr sd Basalt sd
Reverb G2 cam0 · time offset td to base IMU ms 0.118 0.246 0.0738
Reverb G2 cam1 · time offset td to base IMU ms 0.118 0.238 0.0738
  • b Kalibr starts from MVIS camera values for each recording; its spread here includes the spread of that input.
  • c MVIS also fits a gyro–accel delay (t_ga) that Kalibr and Basalt do not, so its td is not quite the same quantity.

Repeatability only — a tool can repeat well and still be biased.

Camera–IMU distance · T12 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · cam0 + cam1 + IMU, cam+IMU

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its default IMU model.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 2 param. 0.12not bounded at n = 4 0.38 (raw 0.12) too few recordings
MVIS ÷ Basalt · 2 param. 0.19not bounded at n = 4 0.38 (raw 0.12) too few recordings
Kalibr ÷ Basalt · 2 param. 1.56not bounded at n = 4 0.62 too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.12 · too few recordingsMVIS ÷ KalibrMVIS ÷ Basalt: R = 0.19 · too few recordingsMVIS ÷ BasaltKalibr ÷ Basalt: R = 1.56 · too few recordingsKalibr ÷ Basalt
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Kalibr sd Basalt sd
Reverb G2 cam0 · distance to base IMU ‖p‖ mm 0.0358 0.11 0.173
Reverb G2 cam1 · distance to base IMU ‖p‖ mm 0.042 0.968 0.251
  • b Kalibr starts from MVIS camera values for each recording; its spread here includes the spread of that input.

Repeatability only — a tool can repeat well and still be biased.

Gyro scale + cross-axis · T12 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · cam0 + cam1 + IMU, cam+IMU

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its run with Kalibr's IMU model (K-IMU).

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 6 param. 0.01not bounded at n = 4 0.38 (raw 0.12) too few recordings
MVIS ÷ Basalt · 6 param. 1.07not bounded at n = 4 0.62 too few recordings
Kalibr ÷ Basalt · 6 param. 93.45not bounded at n = 4 0.38 (raw 0.12) too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.01 · too few recordingsMVIS ÷ Kalibr◀MVIS ÷ Basalt: R = 1.07 · too few recordingsMVIS ÷ BasaltKalibr ÷ Basalt: R = 93.45 · too few recordingsKalibr ÷ Basalt▶
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Kalibr sd Basalt sd
Reverb G2 IMU · gyro Dw[0,0] scale x 0.000705 0.0585 0.0006
Reverb G2 IMU · gyro Dw[1,1] scale y 0.00103 0.0607 0.000503
Reverb G2 IMU · gyro Dw[2,2] scale z 0.000169 0.0162 0.00023
Reverb G2 IMU · gyro Dw[1,0] cross 0.000373 0.0345 0.000385
Reverb G2 IMU · gyro Dw[2,0] cross 0.000109 0.0264 0.000415
Reverb G2 IMU · gyro Dw[2,1] cross 0.000662 0.0489 0.00046
  • b Kalibr starts from MVIS camera values for each recording; its spread here includes the spread of that input.
  • d MVIS here uses Kalibr's IMU model, so the gyro and accel terms mean the same thing in both tools.

Repeatability only — a tool can repeat well and still be biased.

Accel scale · T12 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · cam0 + cam1 + IMU, cam+IMU

Only 4 recordings hold values from every compared tool. With 4 recordings the smallest possible p is 0.12, so no gap can be decided. Ratios are shown for reference only.

MVIS here: its run with Kalibr's IMU model (K-IMU).

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 3 param. 0.02not bounded at n = 4 0.38 (raw 0.12) too few recordings
MVIS ÷ Basalt · 3 param. 0.13not bounded at n = 4 0.38 (raw 0.12) too few recordings
Kalibr ÷ Basalt · 3 param. 21.48not bounded at n = 4 0.38 (raw 0.12) too few recordings
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.02 · too few recordingsMVIS ÷ Kalibr◀MVIS ÷ Basalt: R = 0.13 · too few recordingsMVIS ÷ BasaltKalibr ÷ Basalt: R = 21.48 · too few recordingsKalibr ÷ Basalt▶
Ratio R of the two tools' typical scatter, first ÷ second. Shaded: 0.80–1.25, the gap treated as a tie even when it is clear. Bars: 95 % interval (not adjusted for multiple tests); a missing end is not bounded. Filled dots in a tool's colour mark a decided pair.
Parameter MVIS sd Kalibr sd Basalt sd
Reverb G2 IMU · accel Da[0,0] scale x 0.000102 0.0175 0.000814
Reverb G2 IMU · accel Da[1,1] scale y 0.000394 0.0126 0.00393
Reverb G2 IMU · accel Da[2,2] scale z 0.000882 0.0404 0.000197
  • b Kalibr starts from MVIS camera values for each recording; its spread here includes the spread of that input.
  • d MVIS here uses Kalibr's IMU model, so the gyro and accel terms mean the same thing in both tools.

Repeatability only — a tool can repeat well and still be biased.

T5 · camera only

Section titled “T5 · camera only”

cam0 + cam1 stereo · 4 recordings

Repeatability Focal + ppDistortionDistanceTime offsetCam–IMU distanceGyroAccel

Coverage

Section titled “Coverage”
  • MVIS 4 of 4
  • Kalibr 4 of 4
  • Basalt 4 of 4

Records behind these numbers: MVIS T5.json · Kalibr T5.json · Basalt T5.json

Where the tools differ

Section titled “Where the tools differ”
MVIS − Kalibr ◆ 4 of 17 compared rows
  • Reverb G2 cam0 · fx +0.09 px
  • Reverb G2 cam0 · fy +0.13 px
  • Reverb G2 cam0 · cx −0.03 px
  • Reverb G2 cam0 · cy −0.03 px
  • Reverb G2 cam0 · dist k1 +0.00558
  • Reverb G2 cam0 · dist k2 −0.02428
  • Reverb G2 cam0 · dist k3 +0.02952
  • Reverb G2 cam0 · dist k4 −0.01106
  • Reverb G2 cam1 · fx +0.04 px
  • Reverb G2 cam1 · fy +0.05 px
  • Reverb G2 cam1 · cx +0.16 px
  • Reverb G2 cam1 · cy −0.39 px ◆
  • Reverb G2 cam1 · dist k1 +0.00401
  • Reverb G2 cam1 · dist k2 −0.01900 ◆
  • Reverb G2 cam1 · dist k3 +0.02441 ◆
  • Reverb G2 cam1 · dist k4 −0.00982 ◆
  • Reverb G2 cam1 · baseline to Reverb G2 cam0 +0.010 mm
Basalt − Kalibr ◆ 0 of 17 compared rows
  • Reverb G2 cam0 · fx −0.05 px
  • Reverb G2 cam0 · fy −0.10 px
  • Reverb G2 cam0 · cx −0.05 px
  • Reverb G2 cam0 · cy −0.02 px
  • Reverb G2 cam0 · dist k1 +0.00424
  • Reverb G2 cam0 · dist k2 −0.01726
  • Reverb G2 cam0 · dist k3 +0.02095
  • Reverb G2 cam0 · dist k4 −0.00753
  • Reverb G2 cam1 · fx −0.07 px
  • Reverb G2 cam1 · fy −0.08 px
  • Reverb G2 cam1 · cx −0.05 px
  • Reverb G2 cam1 · cy −0.01 px
  • Reverb G2 cam1 · dist k1 +0.00135
  • Reverb G2 cam1 · dist k2 −0.01159
  • Reverb G2 cam1 · dist k3 +0.01822
  • Reverb G2 cam1 · dist k4 −0.00783
  • Reverb G2 cam1 · baseline to Reverb G2 cam0 −0.008 mm
Basalt − MVIS ◆ 2 of 17 compared rows
  • Reverb G2 cam0 · fx −0.15 px
  • Reverb G2 cam0 · fy −0.23 px ◆
  • Reverb G2 cam0 · cx −0.02 px
  • Reverb G2 cam0 · cy +0.01 px
  • Reverb G2 cam0 · dist k1 −0.00133
  • Reverb G2 cam0 · dist k2 +0.00702
  • Reverb G2 cam0 · dist k3 −0.00857
  • Reverb G2 cam0 · dist k4 +0.00353
  • Reverb G2 cam1 · fx −0.11 px
  • Reverb G2 cam1 · fy −0.13 px
  • Reverb G2 cam1 · cx −0.21 px
  • Reverb G2 cam1 · cy +0.38 px ◆
  • Reverb G2 cam1 · dist k1 −0.00266
  • Reverb G2 cam1 · dist k2 +0.00741
  • Reverb G2 cam1 · dist k3 −0.00619
  • Reverb G2 cam1 · dist k4 +0.00198
  • Reverb G2 cam1 · baseline to Reverb G2 cam0 −0.018 mm

Dot = median difference Δ on an axis in units of the larger of the two tools' sd; shaded = ±1 sd; filled dot and ◆ = outside it; an arrow = beyond ±5 sd. No tool is the reference. "≠n" = the tools solved different recordings.

Parameters by sensor

Section titled “Parameters by sensor”
2 sensors, 17 parameter charts (open to see each tool's spread)

fx px axis 270 ± 1.58

MVIS 270.01 ± 0.045 (4)
Kalibr 269.92 ± 0.8 (4)
Basalt 269.87 ± 0.17 (4)

fy px axis 270 ± 1.53

MVIS 270.15 ± 0.077 (4)
Kalibr 270.02 ± 0.76 (4)
Basalt 269.92 ± 0.15 (4)

cx px axis 322 ± 0.48

MVIS 322.44 ± 0.22 (4)
Kalibr 322.46 ± 0.33 (4)
Basalt 322.41 ± 0.33 (4)

cy px axis 229 ± 0.377

MVIS 229.09 ± 0.19 (4)
Kalibr 229.12 ± 0.19 (4)
Basalt 229.10 ± 0.22 (4)

dist k1 axis 0.0813 ± 0.0711

MVIS 0.08259 ± 0.0021 (4)
Kalibr 0.07701 ± 0.031 (4)
Basalt 0.08125 ± 0.002 (4)

dist k2 axis −0.0383 ± 0.255

MVIS −0.04528 ± 0.0077 (4)
Kalibr −0.02100 ± 0.11 (4)
Basalt −0.03825 ± 0.0038 (4)

dist k3 axis 0.226 ± 0.342

MVIS 0.23454 ± 0.011 (4)
Kalibr 0.20501 ± 0.15 (4)
Basalt 0.22596 ± 0.0045 (4)

dist k4 axis −0.129 ± 0.152

MVIS −0.13254 ± 0.0054 (4)
Kalibr −0.12148 ± 0.068 (4)
Basalt −0.12902 ± 0.0021 (4)

fx px axis 269 ± 0.363

MVIS 268.76 ± 0.18 (4)
Kalibr 268.72 ± 0.096 (4)
Basalt 268.65 ± 0.17 (4)

fy px axis 269 ± 0.348

MVIS 268.79 ± 0.15 (4)
Kalibr 268.74 ± 0.11 (4)
Basalt 268.66 ± 0.16 (4)

cx px axis 324 ± 0.481

MVIS 323.71 ± 0.23 (4)
Kalibr 323.55 ± 0.34 (4)
Basalt 323.50 ± 0.31 (4)

cy px axis 237 ± 0.602

MVIS 236.66 ± 0.16 (4)
Kalibr 237.05 ± 0.29 (4)
Basalt 237.04 ± 0.27 (4)

dist k1 axis 0.0795 ± 0.01

MVIS 0.08219 ± 0.0031 (4)
Kalibr 0.07818 ± 0.0047 (4)
Basalt 0.07953 ± 0.0013 (4)

dist k2 axis −0.0438 ± 0.0406

MVIS −0.05120 ± 0.014 (4)
Kalibr −0.03220 ± 0.017 (4)
Basalt −0.04379 ± 0.0032 (4)

dist k3 axis 0.237 ± 0.0516

MVIS 0.24337 ± 0.02 (4)
Kalibr 0.21896 ± 0.022 (4)
Basalt 0.23718 ± 0.0046 (4)

dist k4 axis −0.134 ± 0.0204

MVIS −0.13566 ± 0.0094 (4)
Kalibr −0.12585 ± 0.0098 (4)
Basalt −0.13368 ± 0.0022 (4)

baseline to Reverb G2 cam0 mm axis 108 ± 0.0858

MVIS 108.434 ± 0.051 (4)
Kalibr 108.424 ± 0.043 (4)
Basalt 108.416 ± 0.04 (4)

Whisker = lowest to highest value over the tool's solved recordings; box = median ± sd; tick = median. Min and max come from the per-recording values behind each record's median; only these two numbers are published, not the values. Rotations are not shown: the records do not hold them yet.

Model notes and how each tool was run

Section titled “Model notes and how each tool was run”
1 note on models, inputs and run settings
  • No charted value is an input or comes from another model.

Run configs, commands and the full parameter tables are in Full tables at the end of this page.

T12 · camera + IMU

Section titled “T12 · camera + IMU”

cam0 + cam1 + IMU · 4 recordings

Read first: Kalibr's intrinsics and baselines are inputs from an MVIS export; its td and lever are solved given them.

Repeatability Focal + ppDistortionDistanceTime offsetCam–IMU distanceGyroAccel

Coverage

Section titled “Coverage”
  • MVIS 4 of 4
  • Kalibr 4 of 4
  • Basalt 4 of 4

MVIS made two runs per recording: its default IMU model ("MVIS") and Kalibr's IMU model ("MVIS (K-IMU)"), so the IMU terms of the second mean the same thing as Kalibr's.

Records behind these numbers: MVIS T12.json · Kalibr T12.json · Basalt T12.json

Fit: reprojection median, px (fit of each tool's own model, not accuracy)
Camera MVIS MVIS (K-IMU) Kalibr Basalt
Reverb G2 cam00.1170.1170.142–
Reverb G2 cam10.1210.1210.140–

Where the tools differ

Section titled “Where the tools differ”
MVIS (K-IMU) − Kalibr ◆ 3 of 13 compared rows
  • Reverb G2 cam0 · time offset td to base IMU −1.058 ms ◆
  • Reverb G2 cam0 · distance to base IMU ‖p‖ +0.16 mm ◆
  • Reverb G2 cam1 · time offset td to base IMU −1.052 ms ◆
  • Reverb G2 cam1 · distance to base IMU ‖p‖ +0.15 mm
  • Reverb G2 IMU · gyro Dw[0,0] scale x −0.00161
  • Reverb G2 IMU · gyro Dw[1,1] scale y −0.00244
  • Reverb G2 IMU · gyro Dw[2,2] scale z −0.00007
  • Reverb G2 IMU · gyro Dw[1,0] cross −0.00019
  • Reverb G2 IMU · gyro Dw[2,0] cross −0.00042
  • Reverb G2 IMU · gyro Dw[2,1] cross +0.00027
  • Reverb G2 IMU · accel Da[0,0] scale x +0.00058
  • Reverb G2 IMU · accel Da[1,1] scale y −0.00102
  • Reverb G2 IMU · accel Da[2,2] scale z −0.00102
Basalt − Kalibr ◆ 0 of 13 compared rows
  • Reverb G2 cam0 · time offset td to base IMU −0.232 ms
  • Reverb G2 cam0 · distance to base IMU ‖p‖ −0.06 mm
  • Reverb G2 cam1 · time offset td to base IMU −0.223 ms
  • Reverb G2 cam1 · distance to base IMU ‖p‖ −0.01 mm
  • Reverb G2 IMU · gyro Dw[0,0] scale x −0.00151
  • Reverb G2 IMU · gyro Dw[1,1] scale y −0.00119
  • Reverb G2 IMU · gyro Dw[2,2] scale z −0.00063
  • Reverb G2 IMU · gyro Dw[1,0] cross −0.00007
  • Reverb G2 IMU · gyro Dw[2,0] cross −0.00021
  • Reverb G2 IMU · gyro Dw[2,1] cross +0.00146
  • Reverb G2 IMU · accel Da[0,0] scale x −0.00042
  • Reverb G2 IMU · accel Da[1,1] scale y −0.00118
  • Reverb G2 IMU · accel Da[2,2] scale z −0.00344
Basalt − MVIS (K-IMU) ◆ 16 of 30 compared rows
  • Reverb G2 cam0 · fx −0.13 px
  • Reverb G2 cam0 · fy −0.20 px ◆
  • Reverb G2 cam0 · cx −0.11 px
  • Reverb G2 cam0 · cy −0.09 px ◆
  • Reverb G2 cam0 · dist k1 −0.00354 ◆
  • Reverb G2 cam0 · dist k2 +0.01128 ◆
  • Reverb G2 cam0 · dist k3 −0.01206 ◆
  • Reverb G2 cam0 · dist k4 +0.00412 ◆
  • Reverb G2 cam0 · time offset td to base IMU +0.825 ms ◆
  • Reverb G2 cam0 · distance to base IMU ‖p‖ −0.22 mm ◆
  • Reverb G2 cam1 · fx −0.13 px
  • Reverb G2 cam1 · fy −0.13 px
  • Reverb G2 cam1 · cx −0.07 px
  • Reverb G2 cam1 · cy +0.16 px ◆
  • Reverb G2 cam1 · dist k1 −0.00046
  • Reverb G2 cam1 · dist k2 +0.00183
  • Reverb G2 cam1 · dist k3 +0.00055
  • Reverb G2 cam1 · dist k4 −0.00123
  • Reverb G2 cam1 · baseline to Reverb G2 cam0 −0.092 mm ◆
  • Reverb G2 cam1 · time offset td to base IMU +0.829 ms ◆
  • Reverb G2 cam1 · distance to base IMU ‖p‖ −0.16 mm
  • Reverb G2 IMU · gyro Dw[0,0] scale x +0.00010
  • Reverb G2 IMU · gyro Dw[1,1] scale y +0.00125 ◆
  • Reverb G2 IMU · gyro Dw[2,2] scale z −0.00056 ◆
  • Reverb G2 IMU · gyro Dw[1,0] cross +0.00012
  • Reverb G2 IMU · gyro Dw[2,0] cross +0.00021
  • Reverb G2 IMU · gyro Dw[2,1] cross +0.00119 ◆
  • Reverb G2 IMU · accel Da[0,0] scale x −0.00100 ◆
  • Reverb G2 IMU · accel Da[1,1] scale y −0.00016
  • Reverb G2 IMU · accel Da[2,2] scale z −0.00242 ◆

Dot = median difference Δ on an axis in units of the larger of the two tools' sd; shaded = ±1 sd; filled dot and ◆ = outside it; an arrow = beyond ±5 sd. No tool is the reference. "≠n" = the tools solved different recordings.

Parameters by sensor

Section titled “Parameters by sensor”
3 sensors, 31 parameter charts (open to see each tool's spread)

fx px axis 270 ± 0.423

MVIS 269.83 ± 0.14 (4)
MVIS (K-IMU) 269.83 ± 0.14 (4)
Kalibr 269.88 ± 0.12 (4) input
Basalt 269.71 ± 0.14 (4)

fy px axis 270 ± 0.475

MVIS 270.09 ± 0.14 (4)
MVIS (K-IMU) 270.09 ± 0.14 (4)
Kalibr 270.08 ± 0.15 (4) input
Basalt 269.89 ± 0.15 (4)

cx px axis 323 ± 0.338

MVIS 322.55 ± 0.049 (4)
MVIS (K-IMU) 322.55 ± 0.049 (4)
Kalibr 322.62 ± 0.063 (4) input
Basalt 322.44 ± 0.12 (4)

cy px axis 229 ± 0.21

MVIS 229.25 ± 0.056 (4)
MVIS (K-IMU) 229.25 ± 0.056 (4)
Kalibr 229.22 ± 0.063 (4) input
Basalt 229.16 ± 0.065 (4)

dist k1 axis 0.0833 ± 0.00541

MVIS 0.08374 ± 0.0015 (4)
MVIS (K-IMU) 0.08374 ± 0.0015 (4)
Kalibr 0.08285 ± 0.0012 (4) input
Basalt 0.08021 ± 0.0018 (4)

dist k2 axis −0.0469 ± 0.0179

MVIS −0.04770 ± 0.0028 (4)
MVIS (K-IMU) −0.04770 ± 0.0028 (4)
Kalibr −0.04607 ± 0.0045 (4) input
Basalt −0.03643 ± 0.0058 (4)

dist k3 axis 0.234 ± 0.0209

MVIS 0.23499 ± 0.0029 (4)
MVIS (K-IMU) 0.23499 ± 0.0029 (4)
Kalibr 0.23258 ± 0.006 (4) input
Basalt 0.22293 ± 0.0082 (4)

dist k4 axis −0.131 ± 0.00799

MVIS −0.13155 ± 0.0012 (4)
MVIS (K-IMU) −0.13155 ± 0.0012 (4)
Kalibr −0.13055 ± 0.0027 (4) input
Basalt −0.12743 ± 0.0036 (4)

time offset td to base IMU ms axis −0.848 ± 0.98 · line at 0

MVIS −1.261 ± 0.12 (4)
MVIS (K-IMU) −1.261 ± 0.12 (4)
Kalibr −0.203 ± 0.25 (4)
Basalt −0.436 ± 0.074 (4)

distance to base IMU ‖p‖ mm axis 53.8 ± 0.342

MVIS 53.89 ± 0.036 (4)
MVIS (K-IMU) 53.89 ± 0.037 (4)
Kalibr 53.73 ± 0.11 (4)
Basalt 53.67 ± 0.17 (4)

fx px axis 269 ± 0.359

MVIS 268.63 ± 0.16 (4)
MVIS (K-IMU) 268.63 ± 0.16 (4)
Kalibr 268.71 ± 0.21 (4) input
Basalt 268.50 ± 0.14 (4)

fy px axis 269 ± 0.309

MVIS 268.62 ± 0.14 (4)
MVIS (K-IMU) 268.62 ± 0.14 (4)
Kalibr 268.71 ± 0.18 (4) input
Basalt 268.49 ± 0.13 (4)

cx px axis 324 ± 0.302

MVIS 323.62 ± 0.095 (4)
MVIS (K-IMU) 323.62 ± 0.096 (4)
Kalibr 323.67 ± 0.12 (4) input
Basalt 323.55 ± 0.14 (4)

cy px axis 237 ± 0.274

MVIS 236.95 ± 0.09 (4)
MVIS (K-IMU) 236.95 ± 0.09 (4)
Kalibr 236.98 ± 0.099 (4) input
Basalt 237.10 ± 0.11 (4)

dist k1 axis 0.0796 ± 0.0036

MVIS 0.07967 ± 0.002 (4)
MVIS (K-IMU) 0.07967 ± 0.002 (4)
Kalibr 0.07948 ± 0.0017 (4) input
Basalt 0.07921 ± 0.0015 (4)

dist k2 axis −0.0414 ± 0.0117

MVIS −0.04150 ± 0.0074 (4)
MVIS (K-IMU) −0.04150 ± 0.0074 (4)
Kalibr −0.04137 ± 0.0054 (4) input
Basalt −0.03966 ± 0.0047 (4)

dist k3 axis 0.228 ± 0.0164

MVIS 0.22776 ± 0.0099 (4)
MVIS (K-IMU) 0.22776 ± 0.0099 (4)
Kalibr 0.22814 ± 0.0068 (4) input
Basalt 0.22831 ± 0.006 (4)

dist k4 axis −0.128 ± 0.00755

MVIS −0.12830 ± 0.0044 (4)
MVIS (K-IMU) −0.12830 ± 0.0044 (4)
Kalibr −0.12854 ± 0.003 (4) input
Basalt −0.12953 ± 0.0025 (4)

baseline to Reverb G2 cam0 mm axis 109 ± 0.117

MVIS 108.500 ± 0.038 (4)
MVIS (K-IMU) 108.500 ± 0.038 (4)
Kalibr 108.507 ± 0.054 (4) input
Basalt 108.408 ± 0.012 (4)

time offset td to base IMU ms axis −0.85 ± 0.963 · line at 0

MVIS −1.265 ± 0.12 (4)
MVIS (K-IMU) −1.265 ± 0.11 (4)
Kalibr −0.213 ± 0.24 (4)
Basalt −0.436 ± 0.074 (4)

distance to base IMU ‖p‖ mm axis 58.4 ± 1.95

MVIS 58.46 ± 0.042 (4)
MVIS (K-IMU) 58.46 ± 0.041 (4)
Kalibr 58.31 ± 0.97 (4)
Basalt 58.31 ± 0.25 (4)

gyro Dw[0,0] scale x axis 1 ± 0.13 · line at 1

MVIS no value
MVIS (K-IMU) 1.00125 ± 0.0007 (4)
Kalibr 1.00286 ± 0.058 (4)
Basalt 1.00135 ± 0.0006 (4)

gyro Dw[1,1] scale y axis 1 ± 0.134 · line at 1

MVIS no value
MVIS (K-IMU) 1.00004 ± 0.001 (4)
Kalibr 1.00248 ± 0.061 (4)
Basalt 1.00129 ± 0.0005 (4)

gyro Dw[2,2] scale z axis 1 ± 0.0354 · line at 1

MVIS no value
MVIS (K-IMU) 1.00030 ± 0.00017 (4)
Kalibr 1.00037 ± 0.016 (4)
Basalt 0.99974 ± 0.00023 (4)

gyro Dw[1,0] cross axis 0.0000537 ± 0.0754

MVIS no value
MVIS (K-IMU) −0.00007 ± 0.00037 (4)
Kalibr 0.00012 ± 0.034 (4)
Basalt 0.00005 ± 0.00038 (4)

gyro Dw[2,0] cross axis 0.000248 ± 0.0577

MVIS no value
MVIS (K-IMU) 0.00004 ± 0.00011 (4)
Kalibr 0.00046 ± 0.026 (4)
Basalt 0.00025 ± 0.00042 (4)

gyro Dw[2,1] cross axis −0.00039 ± 0.107

MVIS no value
MVIS (K-IMU) −0.00039 ± 0.00066 (4)
Kalibr −0.00066 ± 0.049 (4)
Basalt 0.00080 ± 0.00046 (4)

accel Da[0,0] scale x axis 1.01 ± 0.0382 · line at 1

MVIS no value
MVIS (K-IMU) 1.00779 ± 0.0001 (4)
Kalibr 1.00721 ± 0.017 (4)
Basalt 1.00679 ± 0.00081 (4)

accel Da[1,1] scale y axis 1.01 ± 0.0284 · line at 1

MVIS no value
MVIS (K-IMU) 1.01189 ± 0.00039 (4)
Kalibr 1.01291 ± 0.013 (4)
Basalt 1.01173 ± 0.0039 (4)

accel Da[2,2] scale z axis 1.01 ± 0.0893 · line at 1

MVIS no value
MVIS (K-IMU) 1.00897 ± 0.00088 (4)
Kalibr 1.00999 ± 0.04 (4)
Basalt 1.00655 ± 0.0002 (4)

t_ga gyro−accel ms axis 2.52 ± 0.0259

MVIS not in this tool's model
MVIS (K-IMU) 2.517 ± 0.017 (4)
Kalibr not in this tool's model
Basalt not in this tool's model

Whisker = lowest to highest value over the tool's solved recordings; box = median ± sd; tick = median. Min and max come from the per-recording values behind each record's median; only these two numbers are published, not the values. Rotations are not shown: the records do not hold them yet.

Model notes and how each tool was run

Section titled “Model notes and how each tool was run”
5 notes on models, inputs and run settings
  • Kalibr: 17 values are input, not estimated (hollow boxes). Their spread copies the input, so it is not that tool's repeatability.
  • t_ga, the gyro–accel delay, is estimated by MVIS only; Kalibr and Basalt have no such term, so MVIS's td is not quite the same quantity.
  • Tg, the IMU g-sensitivity, is a term of Kalibr's IMU model, here from MVIS (K-IMU) and Kalibr; the MVIS default model has no counterpart, so it is not compared.
Kalibr IMU-model terms Tg (median; sd on hover)
MVIS (K-IMU) · Reverb G2 IMU
−0.0390.063−0.049−0.007−0.004−0.007−0.030−0.0480.005
Kalibr · Reverb G2 IMU
−0.0200.510−2.304−0.576−0.284−0.4521.674−0.4150.074
  • Note: the camera + IMU twin of T5 (same pair, same 4 sessions). Both tools start from the camera calibration of the same round: MVIS from T5 camera-only (refined in cam-IMU), Kalibr from the MVIS T12 export (fixed).
  • Basalt: the kb4 rows, seeded from Basalt's T5 round.

Run configs, commands and the full parameter tables are in Full tables at the end of this page.

Full tables

Section titled “Full tables”
Every parameter table, tool difference and run config (Monado MGC)
How to read this
  • Spread shows repeatability across recordings, not accuracy. A tool can repeat well and still be biased.
  • 448.50 ± 0.48 (10): median ± sd across the 10 recordings that tool solved. With 3 or 4 recordings the sd itself is rough.
  • (3/15): this tool has 3 of the family's 15 recordings.
  • fixed: Kalibr doesn't estimate this value. Its camera + IMU runs take intrinsics and baselines as input, from an MVIS export or, on T6 and T11, from its own camera-only calibration; T7 ELP-L readout is held at 0. The spread here isn't repeatability.
  • shown: the tool uses a different model here, so the value has no difference next to it.
  • other model: Kalibr's coefficients here belong to a different lens model.
  • not in model, not reported, no run, no data, no RS model, not in one run: the tool has no value for this row, and the words say why. no run means the tool never ran with this sensor; not in one run means it ran with each sensor, but no single run holds both ends of the baseline. not run, in the recordings line: the tool has no run for the family.
  • Differences: the column header gives the subtraction, using stored medians. No tool is the reference.
  • ◆: the difference is larger than the larger of the two sds. It marks disagreement, not an error in either tool.
  • ≠n: the two medians come from different numbers of recordings.
  • ≠ model: the tools' models differ, so no difference is shown. fit: reprojection error measures fit and isn't comparable across models.
  • ‡ td: MVIS splits the IMU into gyro (td) and accel (td + t_ga); Kalibr and Basalt have one timeline. Basalt − Kalibr is the like-for-like check.
  • Each family folds; the first is open. Click a family's title to open or close it.

No ground truth: ◆ marks disagreement, not who is right.

median ± sd (recordings) · (3/15) partial · fixed Kalibr input · shown / other model, no Δ · ≠ model, fit: no Δ · ◆ |Δ| above the larger sd · ≠n different recording counts · ‡ see How to read this

On camera + IMU families the MVIS column uses Kalibr's IMU model, not the MVIS default. The default fills fewer rows and is in a closed fold under each family.

Key and MVIS column

Swipe a table sideways for the other tools and differences.

median ± sd (recordings) · (3/15) partial · fixed Kalibr input · shown / other model, no Δ · ≠ model, fit: no Δ · ◆ |Δ| above the larger sd · ≠n different recording counts · ‡ see How to read this

On camera + IMU families the MVIS column uses Kalibr's IMU model, not the MVIS default. The default fills fewer rows and is in a closed fold under each family.

T5 · cam0 + cam1 stereo

MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4

Camera · stereo01 rounds 1–4 · Kalibr pinhole-equi, cam0 + cam1 jointly

cam0 – Reverb G2 cam0 · 8 rows · ◆ 1
ParameterMVISKalibrBasaltMVIS− KalibrBasalt− KalibrBasalt− MVIS
fx px270.01 ± 0.05 (4)269.92 ± 0.80 (4)269.87 ± 0.17 (4)+0.09−0.05−0.15
fy px270.15 ± 0.08 (4)270.02 ± 0.76 (4)269.92 ± 0.15 (4)+0.13−0.10◆ −0.23
cx px322.44 ± 0.22 (4)322.46 ± 0.33 (4)322.41 ± 0.33 (4)−0.03−0.05−0.02
cy px229.09 ± 0.19 (4)229.12 ± 0.19 (4)229.10 ± 0.22 (4)−0.03−0.02+0.01
dist k10.08259 ± 0.00215 (4)0.07701 ± 0.03126 (4)0.08125 ± 0.00202 (4)+0.00558+0.00424−0.00133
dist k2−0.04528 ± 0.00772 (4)−0.02100 ± 0.11101 (4)−0.03825 ± 0.00381 (4)−0.02428−0.01726+0.00702
dist k30.23454 ± 0.01129 (4)0.20501 ± 0.14995 (4)0.22596 ± 0.00445 (4)+0.02952+0.02095−0.00857
dist k4−0.13254 ± 0.00538 (4)−0.12148 ± 0.06777 (4)−0.12902 ± 0.00210 (4)−0.01106−0.00753+0.00353
cam1 – Reverb G2 cam1 · 9 rows · ◆ 4
ParameterMVISKalibrBasaltMVIS− KalibrBasalt− KalibrBasalt− MVIS
fx px268.76 ± 0.18 (4)268.72 ± 0.10 (4)268.65 ± 0.17 (4)+0.04−0.07−0.11
fy px268.79 ± 0.15 (4)268.74 ± 0.11 (4)268.66 ± 0.16 (4)+0.05−0.08−0.13
cx px323.71 ± 0.23 (4)323.55 ± 0.34 (4)323.50 ± 0.31 (4)+0.16−0.05−0.21
cy px236.66 ± 0.16 (4)237.05 ± 0.29 (4)237.04 ± 0.27 (4)◆ −0.39−0.01◆ +0.38
dist k10.08219 ± 0.00310 (4)0.07818 ± 0.00473 (4)0.07953 ± 0.00125 (4)+0.00401+0.00135−0.00266
dist k2−0.05120 ± 0.01356 (4)−0.03220 ± 0.01665 (4)−0.04379 ± 0.00323 (4)◆ −0.01900−0.01159+0.00741
dist k30.24337 ± 0.02005 (4)0.21896 ± 0.02197 (4)0.23718 ± 0.00457 (4)◆ +0.02441+0.01822−0.00619
dist k4−0.13566 ± 0.00944 (4)−0.12585 ± 0.00978 (4)−0.13368 ± 0.00224 (4)◆ −0.00982−0.00783+0.00198
baseline to Reverb G2 cam0 mm108.434 ± 0.051 (4)108.424 ± 0.043 (4)108.416 ± 0.040 (4)+0.010−0.008−0.018

T12 · cam0 + cam1 + IMU

MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4

Camera + IMU · imucalib01 rounds 1–4 · Kalibr scale-misalignment vs MVIS (kalibr model)

Read first: Kalibr's intrinsics and baselines are inputs from an MVIS export; its td and lever are solved given them.

Notes

Note: the camera + IMU twin of T5 (same pair, same 4 sessions). Both tools start from the camera calibration of the same round: MVIS from T5 camera-only (refined in cam-IMU), Kalibr from the MVIS T12 export (fixed).

Basalt: the kb4 rows, seeded from Basalt's T5 round.

cam0 – Reverb G2 cam0 · 11 rows · ◆ 8
ParameterMVISKalibr IMU modelKalibrBasaltMVIS− KalibrBasalt− KalibrBasalt− MVIS
fx px269.83 ± 0.14 (4)fixed 269.88 ± 0.12 (4)269.71 ± 0.14 (4)−0.13
fy px270.09 ± 0.14 (4)fixed 270.08 ± 0.15 (4)269.89 ± 0.15 (4)◆ −0.20
cx px322.55 ± 0.05 (4)fixed 322.62 ± 0.06 (4)322.44 ± 0.12 (4)−0.11
cy px229.25 ± 0.06 (4)fixed 229.22 ± 0.06 (4)229.16 ± 0.07 (4)◆ −0.09
dist k10.08374 ± 0.00149 (4)fixed 0.08285 ± 0.00123 (4)0.08021 ± 0.00183 (4)◆ −0.00354
dist k2−0.04770 ± 0.00279 (4)fixed −0.04607 ± 0.00447 (4)−0.03643 ± 0.00581 (4)◆ +0.01128
dist k30.23499 ± 0.00294 (4)fixed 0.23258 ± 0.00600 (4)0.22293 ± 0.00819 (4)◆ −0.01206
dist k4−0.13155 ± 0.00124 (4)fixed −0.13055 ± 0.00271 (4)−0.12743 ± 0.00364 (4)◆ +0.00412
time offset td to base IMU‡ ms−1.261 ± 0.115 (4)−0.203 ± 0.246 (4)−0.436 ± 0.074 (4)◆ −1.058−0.232◆ +0.825
distance to base IMU ‖p‖ mm53.89 ± 0.04 (4)53.73 ± 0.11 (4)53.67 ± 0.17 (4)◆ +0.16−0.06◆ −0.22
reproj median px0.117 ± 0.005 (4)0.142 ± 0.064 (4)not reportedfit
cam1 – Reverb G2 cam1 · 12 rows · ◆ 3
ParameterMVISKalibr IMU modelKalibrBasaltMVIS− KalibrBasalt− KalibrBasalt− MVIS
fx px268.63 ± 0.16 (4)fixed 268.71 ± 0.21 (4)268.50 ± 0.14 (4)−0.13
fy px268.62 ± 0.14 (4)fixed 268.71 ± 0.18 (4)268.49 ± 0.13 (4)−0.13
cx px323.62 ± 0.10 (4)fixed 323.67 ± 0.12 (4)323.55 ± 0.14 (4)−0.07
cy px236.95 ± 0.09 (4)fixed 236.98 ± 0.10 (4)237.10 ± 0.11 (4)◆ +0.16
dist k10.07967 ± 0.00203 (4)fixed 0.07948 ± 0.00166 (4)0.07921 ± 0.00150 (4)−0.00046
dist k2−0.04150 ± 0.00744 (4)fixed −0.04137 ± 0.00538 (4)−0.03966 ± 0.00467 (4)+0.00183
dist k30.22776 ± 0.00992 (4)fixed 0.22814 ± 0.00677 (4)0.22831 ± 0.00597 (4)+0.00055
dist k4−0.12830 ± 0.00441 (4)fixed −0.12854 ± 0.00305 (4)−0.12953 ± 0.00246 (4)−0.00123
baseline to Reverb G2 cam0 mm108.500 ± 0.038 (4)fixed 108.507 ± 0.054 (4)108.408 ± 0.012 (4)◆ −0.092
time offset td to base IMU‡ ms−1.265 ± 0.115 (4)−0.213 ± 0.238 (4)−0.436 ± 0.074 (4)◆ −1.052−0.223◆ +0.829
distance to base IMU ‖p‖ mm58.46 ± 0.04 (4)58.31 ± 0.97 (4)58.31 ± 0.25 (4)+0.15−0.01−0.16
reproj median px0.121 ± 0.009 (4)0.140 ± 0.066 (4)not reportedfit
base IMU – Reverb G2 IMU · 19 rows · ◆ 5
ParameterMVISKalibr IMU modelKalibrBasaltMVIS− KalibrBasalt− KalibrBasalt− MVIS
gyro Dw[0,0] scale x1.00125 ± 0.00070 (4)1.00286 ± 0.05848 (4)1.00135 ± 0.00060 (4)−0.00161−0.00151+0.00010
gyro Dw[1,1] scale y1.00004 ± 0.00103 (4)1.00248 ± 0.06067 (4)1.00129 ± 0.00050 (4)−0.00244−0.00119◆ +0.00125
gyro Dw[2,2] scale z1.00030 ± 0.00017 (4)1.00037 ± 0.01617 (4)0.99974 ± 0.00023 (4)−0.00007−0.00063◆ −0.00056
gyro Dw[1,0] cross−0.00007 ± 0.00037 (4)0.00012 ± 0.03447 (4)0.00005 ± 0.00038 (4)−0.00019−0.00007+0.00012
gyro Dw[2,0] cross0.00004 ± 0.00011 (4)0.00046 ± 0.02642 (4)0.00025 ± 0.00042 (4)−0.00042−0.00021+0.00021
gyro Dw[2,1] cross−0.00039 ± 0.00066 (4)−0.00066 ± 0.04892 (4)0.00080 ± 0.00046 (4)+0.00027+0.00146◆ +0.00119
accel Da[0,0] scale x1.00779 ± 0.00010 (4)1.00721 ± 0.01747 (4)1.00679 ± 0.00081 (4)+0.00058−0.00042◆ −0.00100
accel Da[1,1] scale y1.01189 ± 0.00039 (4)1.01291 ± 0.01257 (4)1.01173 ± 0.00393 (4)−0.00102−0.00118−0.00016
accel Da[2,2] scale z1.00897 ± 0.00088 (4)1.00999 ± 0.04037 (4)1.00655 ± 0.00020 (4)−0.00102−0.00344◆ −0.00242
Tg[0,0] g-sensitivity mrad·s/m−0.039 ± 0.080 (4)−0.020 ± 5.076 (4)not in model≠ model
Tg[0,1] g-sensitivity mrad·s/m0.063 ± 0.072 (4)0.510 ± 1.130 (4)not in model≠ model
Tg[0,2] g-sensitivity mrad·s/m−0.049 ± 0.059 (4)−2.304 ± 11.510 (4)not in model≠ model
Tg[1,0] g-sensitivity mrad·s/m−0.007 ± 0.066 (4)−0.576 ± 0.875 (4)not in model≠ model
Tg[1,1] g-sensitivity mrad·s/m−0.004 ± 0.077 (4)−0.284 ± 4.087 (4)not in model≠ model
Tg[1,2] g-sensitivity mrad·s/m−0.007 ± 0.114 (4)−0.452 ± 17.028 (4)not in model≠ model
Tg[2,0] g-sensitivity mrad·s/m−0.030 ± 0.045 (4)1.674 ± 3.397 (4)not in model≠ model
Tg[2,1] g-sensitivity mrad·s/m−0.048 ± 0.066 (4)−0.415 ± 0.838 (4)not in model≠ model
Tg[2,2] g-sensitivity mrad·s/m0.005 ± 0.080 (4)0.074 ± 4.868 (4)not in model≠ model
t_ga gyro−accel ms2.517 ± 0.017 (4)not in modelnot in model
MVIS default IMU model (calyx) · 23 of 42 rows, model-independent only · ◆ 3
ParameterMVISKalibr IMU modelMVIS defaultKalibrdefault− Kalibrdefault− Kalibr IMU model
cam0 – Reverb G2 cam0
fx px269.83 ± 0.14 (4)269.83 ± 0.14 (4)fixed 269.88 ± 0.12 (4)0.00
fy px270.09 ± 0.14 (4)270.09 ± 0.14 (4)fixed 270.08 ± 0.15 (4)0.00
cx px322.55 ± 0.05 (4)322.55 ± 0.05 (4)fixed 322.62 ± 0.06 (4)0.00
cy px229.25 ± 0.06 (4)229.25 ± 0.06 (4)fixed 229.22 ± 0.06 (4)0.00
dist k10.08374 ± 0.00149 (4)0.08374 ± 0.00149 (4)fixed 0.08285 ± 0.00123 (4)0.00000
dist k2−0.04770 ± 0.00279 (4)−0.04770 ± 0.00279 (4)fixed −0.04607 ± 0.00447 (4)0.00000
dist k30.23499 ± 0.00294 (4)0.23499 ± 0.00294 (4)fixed 0.23258 ± 0.00600 (4)0.00000
dist k4−0.13155 ± 0.00124 (4)−0.13155 ± 0.00125 (4)fixed −0.13055 ± 0.00271 (4)0.00000
time offset td to base IMU‡ ms−1.261 ± 0.115 (4)−1.261 ± 0.118 (4)−0.203 ± 0.246 (4)◆ −1.0580.000
distance to base IMU ‖p‖ mm53.89 ± 0.04 (4)53.89 ± 0.04 (4)53.73 ± 0.11 (4)◆ +0.160.00
reproj median px0.117 ± 0.005 (4)0.117 ± 0.004 (4)0.142 ± 0.064 (4)fitfit
cam1 – Reverb G2 cam1
fx px268.63 ± 0.16 (4)268.63 ± 0.16 (4)fixed 268.71 ± 0.21 (4)0.00
fy px268.62 ± 0.14 (4)268.62 ± 0.14 (4)fixed 268.71 ± 0.18 (4)0.00
cx px323.62 ± 0.10 (4)323.62 ± 0.10 (4)fixed 323.67 ± 0.12 (4)0.00
cy px236.95 ± 0.09 (4)236.95 ± 0.09 (4)fixed 236.98 ± 0.10 (4)0.00
dist k10.07967 ± 0.00203 (4)0.07967 ± 0.00203 (4)fixed 0.07948 ± 0.00166 (4)0.00000
dist k2−0.04150 ± 0.00744 (4)−0.04150 ± 0.00744 (4)fixed −0.04137 ± 0.00538 (4)0.00000
dist k30.22776 ± 0.00992 (4)0.22776 ± 0.00992 (4)fixed 0.22814 ± 0.00677 (4)0.00000
dist k4−0.12830 ± 0.00441 (4)−0.12830 ± 0.00441 (4)fixed −0.12854 ± 0.00305 (4)0.00000
baseline to Reverb G2 cam0 mm108.500 ± 0.038 (4)108.500 ± 0.038 (4)fixed 108.507 ± 0.054 (4)0.000
time offset td to base IMU‡ ms−1.265 ± 0.115 (4)−1.265 ± 0.118 (4)−0.213 ± 0.238 (4)◆ −1.0530.000
distance to base IMU ‖p‖ mm58.46 ± 0.04 (4)58.46 ± 0.04 (4)58.31 ± 0.97 (4)+0.150.00
reproj median px0.121 ± 0.009 (4)0.121 ± 0.009 (4)0.140 ± 0.066 (4)fitfit