TUM-VI

The calibration bags of the TUM visual-inertial dataset: a global-shutter fisheye stereo pair and a BMI160 IMU.

2 global-shutter fisheye cameras, 20 HzBMI160 IMU, 200 HzAprilGrid 6×6, 88 mm CC BY 4.0

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

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

TUM-VI: which tool repeats more tightly, per family and group of parameters
Family	Focal + pp px	Distortion	Distance mm	Time offset ms	Cam–IMU distance mm	Gyro	Accel
T3 · camera n = 8 matched Camera stereo (raw)	MVIS = Basalt> Kalibr ×1.5	Not separated ^a	Tie	—	—	—	—
T9 · cam+IMU n = 4 matched Camera + IMU, raw stream	n = 4 · too few	n = 4 · too few ^a	n = 4 · too few	n = 4 · too few ^b	n = 4 · too few	n = 4 · too few ^c	n = 4 · too few ^c
T10 · cam+IMU n = 4 matched Camera + IMU, standard-512	n = 4 · too few	n = 4 · too few ^a	n = 4 · too few	n = 4 · too few ^b	n = 4 · too few	n = 4 · too few ^c	n = 4 · too few ^c

T3 · camera · Camera stereo (raw) More repeatable or tie: Focal + pp MVIS = Basalt > Kalibr · Distortion not separated · Distance tie n = 8 matched · MVIS 8 of 8 · Kalibr 8 of 8 · Basalt 8 of 8

Focal + pp MVIS= Basalt > Kalibr×1.5
DistortionNot separated^a
DistanceTie

T9 · cam+IMU · Camera + IMU, raw stream Too few recordings (n = 4) n = 4 matched · MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4

Focal + ppToo few recordings (n = 4)
DistortionToo few recordings (n = 4)^a
DistanceToo few recordings (n = 4)
Time offsetToo few recordings (n = 4)^b
Cam–IMU distanceToo few recordings (n = 4)
GyroToo few recordings (n = 4)^c
AccelToo few recordings (n = 4)^c

T10 · cam+IMU · Camera + IMU, standard-512 Too few recordings (n = 4) n = 4 matched · MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4

Focal + ppToo few recordings (n = 4)
DistortionToo few recordings (n = 4)^a
DistanceToo few recordings (n = 4)
Time offsetToo few recordings (n = 4)^b
Cam–IMU distanceToo few recordings (n = 4)
GyroToo few recordings (n = 4)^c
AccelToo few recordings (n = 4)^c

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.

a Coefficients trade off against each other, so their scatter can overstate differences in the lens mapping.
b MVIS also fits a gyro–accel delay (t_ga) that Kalibr and Basalt do not, so its td is not quite the same quantity.
c 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

T9 reprojection error (2 rows): fit quality, not repeatability and not accuracy
T9 IMU g-sensitivity Tg (9 rows): Kalibr absorbs it in its IMU model
T9 gyro–accel delay t_ga (1 row): MVIS only
T10 reprojection error (2 rows): fit quality, not repeatability and not accuracy
T10 IMU g-sensitivity Tg (9 rows): Kalibr absorbs it in its IMU model
T10 gyro–accel delay t_ga (1 row): MVIS only

Focal length + principal point · T3 · 8 matched recordings (MVIS 8 of 8 · Kalibr 8 of 8 · Basalt 8 of 8) · Camera stereo (raw), camera

The spreads of MVIS and Basalt differ by 1.1×, but a gap this size appears often by chance with 8 recordings (p = 0.44). Treated as a tie. Both scatter less than Kalibr: across the same 8 recordings Kalibr's estimates scatter about 1.5× more than MVIS's and 1.5× more than Basalt's. Holds with any one recording left out.

MVIS here: its camera-only run.

Pair	R	95 % interval	p (Holm)	Decision	Leave one out
MVIS ÷ Kalibr · 8 param.	0.67	0.42 – 0.84	0.031 (raw 0.016)	MVIS tighter	holds with any one recording left out
MVIS ÷ Basalt · 8 param.	1.1	0.83 – 2.11	0.44	tie: gap within chance
Kalibr ÷ Basalt · 8 param.	1.55	1.21 – 2.94	0.023 (raw 0.0078)	Basalt tighter	holds with any one recording left out

The 95 % interval of MVIS ÷ Kalibr reaches into the tie band (0.80–1.25): the ratio shown is a point value.

The 95 % interval of Kalibr ÷ Basalt reaches into the tie band (0.80–1.25): the ratio shown is a point value.

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
TUM-VI cam0 · fx px	0.375	0.643	0.401
TUM-VI cam0 · fy px	0.409	0.656	0.411
TUM-VI cam0 · cx px	0.286	0.196	0.236
TUM-VI cam0 · cy px	0.165	0.236	0.11
TUM-VI cam1 · fx px	0.404	0.672	0.435
TUM-VI cam1 · fy px	0.426	0.666	0.428
TUM-VI cam1 · cx px	0.285	0.186	0.211
TUM-VI cam1 · cy px	0.379	0.324	0.306

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

Distortion coefficients · T3 · 8 matched recordings (MVIS 8 of 8 · Kalibr 8 of 8 · Basalt 8 of 8) · Camera stereo (raw), camera

Basalt is tighter than Kalibr; the other pairs are not separated. No single tool is marked.

MVIS here: its camera-only run.

Pair	R	95 % interval	p (Holm)	Decision	Leave one out
MVIS ÷ Kalibr · 8 param.	0.42	0.13 – 0.95	0.078 (raw 0.039)	tie: gap within chance
MVIS ÷ Basalt · 8 param.	1.38	0.72 – 2.34	0.16	tie: gap within chance
Kalibr ÷ Basalt · 8 param.	3.35	1.6 – 11.12	0.023 (raw 0.0078)	Basalt tighter	holds with any one recording left out

Parameter	MVIS sd	Kalibr sd	Basalt sd
TUM-VI cam0 · dist k1	0.00167	0.00392	0.00143
TUM-VI cam0 · dist k2	0.00284	0.00685	0.00203
TUM-VI cam0 · dist k3	0.00201	0.00488	0.00147
TUM-VI cam0 · dist k4	0.000498	0.00118	0.00039
TUM-VI cam1 · dist k1	0.00126	0.00318	0.00105
TUM-VI cam1 · dist k2	0.0022	0.00568	0.0015
TUM-VI cam1 · dist k3	0.0016	0.00384	0.000984
TUM-VI cam1 · dist k4	0.000389	0.000883	0.000242

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 · T3 · 8 matched recordings (MVIS 8 of 8 · Kalibr 8 of 8 · Basalt 8 of 8) · Camera stereo (raw), camera

The spreads of MVIS and Kalibr differ by 1.2×, but a gap this size appears often by chance with 8 recordings (p = 0.26). Treated as a tie. The spreads of MVIS and Basalt differ by 1.02×, but a gap this size appears often by chance with 8 recordings (p = 0.88). Treated as a tie. The spreads of Kalibr and Basalt differ by 1.2×, but a gap this size appears often by chance with 8 recordings (p = 0.26). Treated as a tie.

MVIS here: its camera-only run.

Pair	R	95 % interval	p (Holm)	Decision
MVIS ÷ Kalibr · 1 param.	0.82	0.27 – 1.06	0.26 (raw 0.086)	tie: gap within chance
MVIS ÷ Basalt · 1 param.	0.98	0.45 – 1.2	0.88	tie: gap within chance
Kalibr ÷ Basalt · 1 param.	1.2	0.93 – 1.83	0.26 (raw 0.11)	tie: gap within chance

Parameter	MVIS sd	Kalibr sd	Basalt sd
TUM-VI cam1 · baseline to TUM-VI cam0 mm	0.0804	0.0978	0.0818

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

Focal length + principal point · T9 · 4 matched recordings (MVIS 4 of 4 · Kalibr input · Basalt 4 of 4) · Camera + IMU, raw stream, 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.

Pair	R	95 % interval	p (Holm)	Decision	Leave one out
MVIS ÷ Basalt · 8 param.	0.84	not bounded at n = 4	0.75	too few recordings

Parameter	MVIS sd	Basalt sd	Ratio
TUM-VI cam0 · fx px	0.0861	0.111	0.78
TUM-VI cam0 · fy px	0.0842	0.119	0.71
TUM-VI cam0 · cx px	0.149	0.163	0.91
TUM-VI cam0 · cy px	0.0434	0.045	0.96
TUM-VI cam1 · fx px	0.0546	0.105	0.52
TUM-VI cam1 · fy px	0.0517	0.128	0.40
TUM-VI cam1 · cx px	0.128	0.135	0.95
TUM-VI cam1 · cy px	0.123	0.118	1.04

Not in this comparison

Kalibr · input, not compared · 8 rows: Kalibr's camera+IMU run starts from these values, from one MVIS export used for all recordings, 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 · T9 · 4 matched recordings (MVIS 4 of 4 · Kalibr input · Basalt 4 of 4) · Camera + IMU, raw stream, 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.

Pair	R	95 % interval	p (Holm)	Decision	Leave one out
MVIS ÷ Basalt · 8 param.	0.8	not bounded at n = 4	0.38	too few recordings

Parameter	MVIS sd	Basalt sd	Ratio
TUM-VI cam0 · dist k1	0.00107	0.00137	0.78
TUM-VI cam0 · dist k2	0.0019	0.00277	0.69
TUM-VI cam0 · dist k3	0.00126	0.00211	0.60
TUM-VI cam0 · dist k4	0.000271	0.00054	0.50
TUM-VI cam1 · dist k1	0.000731	0.000879	0.83
TUM-VI cam1 · dist k2	0.00133	0.00149	0.89
TUM-VI cam1 · dist k3	0.000988	0.00106	0.93
TUM-VI cam1 · dist k4	0.000259	0.000271	0.96

Not in this comparison

Kalibr · input, not compared · 8 rows: Kalibr's camera+IMU run starts from these values, from one MVIS export used for all recordings, 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 · T9 · 4 matched recordings (MVIS 4 of 4 · Kalibr input · Basalt 4 of 4) · Camera + IMU, raw stream, 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.

Pair	R	95 % interval	p (Holm)	Decision	Leave one out
MVIS ÷ Basalt · 1 param.	1.35	not bounded at n = 4	0.75	too few recordings

Parameter	MVIS sd	Basalt sd	Ratio
TUM-VI cam1 · baseline to TUM-VI cam0 mm	0.00699	0.00519	1.35

Not in this comparison

Kalibr · input, not compared · 1 row: Kalibr's camera+IMU run starts from these values, from one MVIS export used for all recordings, 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 · T9 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · Camera + IMU, raw stream, 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.

Pair	R	95 % interval	p (Holm)	Decision
MVIS ÷ Kalibr · 2 param.	0.08	not bounded at n = 4	0.38 (raw 0.12)	too few recordings
MVIS ÷ Basalt · 2 param.	0.11	not bounded at n = 4	0.38 (raw 0.12)	too few recordings
Kalibr ÷ Basalt · 2 param.	1.48	not bounded at n = 4	0.38 (raw 0.25)	too few recordings

Parameter	MVIS sd	Kalibr sd	Basalt sd
TUM-VI cam0 · time offset td to base IMU ms	0.0105	0.148	0.0999
TUM-VI cam1 · time offset td to base IMU ms	0.012	0.149	0.0999

b 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 · T9 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · Camera + IMU, raw stream, 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.

Pair	R	95 % interval	p (Holm)	Decision
MVIS ÷ Kalibr · 2 param.	0.96	not bounded at n = 4	1	too few recordings
MVIS ÷ Basalt · 2 param.	1.38	not bounded at n = 4	1 (raw 0.5)	too few recordings
Kalibr ÷ Basalt · 2 param.	1.43	not bounded at n = 4	1 (raw 0.62)	too few recordings

Parameter	MVIS sd	Kalibr sd	Basalt sd
TUM-VI cam0 · distance to base IMU ‖p‖ mm	0.37	0.488	0.228
TUM-VI cam1 · distance to base IMU ‖p‖ mm	0.406	0.332	0.346

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

Gyro scale + cross-axis · T9 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · Camera + IMU, raw stream, 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).

Pair	R	95 % interval	p (Holm)	Decision
MVIS ÷ Kalibr · 6 param.	0.57	not bounded at n = 4	0.75 (raw 0.25)	too few recordings
MVIS ÷ Basalt · 6 param.	0.92	not bounded at n = 4	0.75 (raw 0.5)	too few recordings
Kalibr ÷ Basalt · 6 param.	1.33	not bounded at n = 4	0.75 (raw 0.25)	too few recordings

Parameter	MVIS sd	Kalibr sd	Basalt sd
BMI160 imu0 · gyro Dw[0,0] scale x	0.000162	0.000416	0.000184
BMI160 imu0 · gyro Dw[1,1] scale y	0.000126	0.000135	0.000132
BMI160 imu0 · gyro Dw[2,2] scale z	0.000153	0.000222	0.000156
BMI160 imu0 · gyro Dw[1,0] cross	0.000166	0.000552	0.000443
BMI160 imu0 · gyro Dw[2,0] cross	0.000321	0.000682	0.000137
BMI160 imu0 · gyro Dw[2,1] cross	0.000123	0.000133	0.000447

c 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 · T9 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · Camera + IMU, raw stream, 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).

Pair	R	95 % interval	p (Holm)	Decision
MVIS ÷ Kalibr · 3 param.	3.07	not bounded at n = 4	0.38 (raw 0.12)	too few recordings
MVIS ÷ Basalt · 3 param.	2.07	not bounded at n = 4	0.38	too few recordings
Kalibr ÷ Basalt · 3 param.	1.54	not bounded at n = 4	0.38 (raw 0.12)	too few recordings

Parameter	MVIS sd	Kalibr sd	Basalt sd
BMI160 imu0 · accel Da[0,0] scale x	0.000876	0.000269	0.0000544
BMI160 imu0 · accel Da[1,1] scale y	0.000439	0.000536	0.000348
BMI160 imu0 · accel Da[2,2] scale z	0.000905	0.000295	0.000437

c 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.

Focal length + principal point · T10 · 4 matched recordings (MVIS 4 of 4 · Kalibr input · Basalt 4 of 4) · Camera + IMU, standard-512, 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.

Pair	R	95 % interval	p (Holm)	Decision	Leave one out
MVIS ÷ Basalt · 8 param.	0.84	not bounded at n = 4	0.62	too few recordings

Parameter	MVIS sd	Basalt sd	Ratio
TUM-VI cam0 · fx px	0.0849	0.18	0.47
TUM-VI cam0 · fy px	0.096	0.176	0.55
TUM-VI cam0 · cx px	0.072	0.0909	0.79
TUM-VI cam0 · cy px	0.0255	0.0265	0.96
TUM-VI cam1 · fx px	0.137	0.139	0.99
TUM-VI cam1 · fy px	0.157	0.13	1.21
TUM-VI cam1 · cx px	0.0558	0.0949	0.59
TUM-VI cam1 · cy px	0.0736	0.0833	0.88

Not in this comparison

Kalibr · input, not compared · 8 rows: Kalibr's camera+IMU run starts from these values, from one MVIS export used for all recordings, 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 · T10 · 4 matched recordings (MVIS 4 of 4 · Kalibr input · Basalt 4 of 4) · Camera + IMU, standard-512, 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.

Pair	R	95 % interval	p (Holm)	Decision	Leave one out
MVIS ÷ Basalt · 8 param.	0.33	not bounded at n = 4	0.25	too few recordings

Parameter	MVIS sd	Basalt sd	Ratio
TUM-VI cam0 · dist k1	0.000763	0.0023	0.33
TUM-VI cam0 · dist k2	0.00112	0.00488	0.23
TUM-VI cam0 · dist k3	0.0005	0.00394	0.13
TUM-VI cam0 · dist k4	0.000121	0.00102	0.12
TUM-VI cam1 · dist k1	0.00105	0.00171	0.61
TUM-VI cam1 · dist k2	0.00197	0.00424	0.46
TUM-VI cam1 · dist k3	0.00156	0.00415	0.38
TUM-VI cam1 · dist k4	0.000425	0.00129	0.33

Not in this comparison

Kalibr · input, not compared · 8 rows: Kalibr's camera+IMU run starts from these values, from one MVIS export used for all recordings, 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 · T10 · 4 matched recordings (MVIS 4 of 4 · Kalibr input · Basalt 4 of 4) · Camera + IMU, standard-512, 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.

Pair	R	95 % interval	p (Holm)	Decision	Leave one out
MVIS ÷ Basalt · 1 param.	0.45	not bounded at n = 4	0.5	too few recordings

Parameter	MVIS sd	Basalt sd	Ratio
TUM-VI cam1 · baseline to TUM-VI cam0 mm	0.0243	0.0543	0.45

Not in this comparison

Kalibr · input, not compared · 1 row: Kalibr's camera+IMU run starts from these values, from one MVIS export used for all recordings, 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 · T10 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · Camera + IMU, standard-512, 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.

Pair	R	95 % interval	p (Holm)	Decision
MVIS ÷ Kalibr · 2 param.	0.06	not bounded at n = 4	0.38 (raw 0.12)	too few recordings
MVIS ÷ Basalt · 2 param.	0.08	not bounded at n = 4	0.38 (raw 0.12)	too few recordings
Kalibr ÷ Basalt · 2 param.	1.33	not bounded at n = 4	0.38 (raw 0.25)	too few recordings

Parameter	MVIS sd	Kalibr sd	Basalt sd
TUM-VI cam0 · time offset td to base IMU ms	0.0116	0.165	0.124
TUM-VI cam1 · time offset td to base IMU ms	0.0084	0.165	0.124

b 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 · T10 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · Camera + IMU, standard-512, 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.

Pair	R	95 % interval	p (Holm)	Decision
MVIS ÷ Kalibr · 2 param.	1	not bounded at n = 4	1	too few recordings
MVIS ÷ Basalt · 2 param.	1.06	not bounded at n = 4	1	too few recordings
Kalibr ÷ Basalt · 2 param.	1.06	not bounded at n = 4	1 (raw 0.88)	too few recordings

Parameter	MVIS sd	Kalibr sd	Basalt sd
TUM-VI cam0 · distance to base IMU ‖p‖ mm	0.176	0.214	0.198
TUM-VI cam1 · distance to base IMU ‖p‖ mm	0.314	0.259	0.246

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

Gyro scale + cross-axis · T10 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · Camera + IMU, standard-512, 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).

Pair	R	95 % interval	p (Holm)	Decision
MVIS ÷ Kalibr · 6 param.	0.38	not bounded at n = 4	0.75 (raw 0.25)	too few recordings
MVIS ÷ Basalt · 6 param.	0.6	not bounded at n = 4	0.75 (raw 0.25)	too few recordings
Kalibr ÷ Basalt · 6 param.	1.12	not bounded at n = 4	0.75	too few recordings

Parameter	MVIS sd	Kalibr sd	Basalt sd
BMI160 imu0 · gyro Dw[0,0] scale x	0.000184	0.000349	0.000268
BMI160 imu0 · gyro Dw[1,1] scale y	0.000147	0.000159	0.000143
BMI160 imu0 · gyro Dw[2,2] scale z	0.000151	0.000333	0.000293
BMI160 imu0 · gyro Dw[1,0] cross	0.000119	0.00051	0.000489
BMI160 imu0 · gyro Dw[2,0] cross	0.000129	0.000808	0.00015
BMI160 imu0 · gyro Dw[2,1] cross	0.000108	0.000347	0.000559

c 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 · T10 · 4 matched recordings (MVIS 4 of 4 · Kalibr 4 of 4 · Basalt 4 of 4) · Camera + IMU, standard-512, 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).

Pair	R	95 % interval	p (Holm)	Decision
MVIS ÷ Kalibr · 3 param.	0.61	not bounded at n = 4	0.5 (raw 0.25)	too few recordings
MVIS ÷ Basalt · 3 param.	0.52	not bounded at n = 4	0.38 (raw 0.12)	too few recordings
Kalibr ÷ Basalt · 3 param.	1.56	not bounded at n = 4	0.5 (raw 0.38)	too few recordings

Parameter	MVIS sd	Kalibr sd	Basalt sd
BMI160 imu0 · accel Da[0,0] scale x	0.0000368	0.000167	0.0000713
BMI160 imu0 · accel Da[1,1] scale y	0.00028	0.000462	0.000296
BMI160 imu0 · accel Da[2,2] scale z	0.000471	0.000466	0.000995

c 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.

T3 · camera only

Camera stereo (raw) · 8 recordings

Read first: Every tool ran on the same bags, filtered to view angles of 85° or less.

Repeatability Focal + ppDistortionDistanceTime offsetCam–IMU distanceGyroAccel

Coverage

MVIS 8 of 8
Kalibr 8 of 8
Basalt 8 of 8

Records behind these numbers: MVIS T3.json · Kalibr T3.json · Basalt T3.json

Where the tools differ

MVIS − Kalibr ◆ 2 of 17 compared rows

only ◆ rows

TUM-VI cam0 · fx +0.17 px
TUM-VI cam0 · fy +0.15 px
TUM-VI cam0 · cx −0.28 px
TUM-VI cam0 · cy −0.27 px ◆
TUM-VI cam0 · dist k1 +0.00025
TUM-VI cam0 · dist k2 +0.00080
TUM-VI cam0 · dist k3 −0.00048
TUM-VI cam0 · dist k4 +0.00012
TUM-VI cam1 · fx −0.13 px
TUM-VI cam1 · fy −0.16 px
TUM-VI cam1 · cx −0.30 px ◆
TUM-VI cam1 · cy −0.33 px
TUM-VI cam1 · dist k1 +0.00070
TUM-VI cam1 · dist k2 −0.00089
TUM-VI cam1 · dist k3 +0.00031
TUM-VI cam1 · dist k4 +0.00001
TUM-VI cam1 · baseline to TUM-VI cam0 −0.001 mm

Basalt − Kalibr ◆ 0 of 17 compared rows

only ◆ rows

TUM-VI cam0 · fx −0.12 px
TUM-VI cam0 · fy −0.08 px
TUM-VI cam0 · cx +0.11 px
TUM-VI cam0 · cy +0.03 px
TUM-VI cam0 · dist k1 +0.00048
TUM-VI cam0 · dist k2 +0.00103
TUM-VI cam0 · dist k3 −0.00076
TUM-VI cam0 · dist k4 +0.00019
TUM-VI cam1 · fx −0.40 px
TUM-VI cam1 · fy −0.38 px
TUM-VI cam1 · cx +0.05 px
TUM-VI cam1 · cy +0.05 px
TUM-VI cam1 · dist k1 +0.00067
TUM-VI cam1 · dist k2 −0.00026
TUM-VI cam1 · dist k3 +0.00011
TUM-VI cam1 · dist k4 0.00000
TUM-VI cam1 · baseline to TUM-VI cam0 −0.002 mm

Basalt − MVIS ◆ 4 of 17 compared rows

only ◆ rows

TUM-VI cam0 · fx −0.29 px
TUM-VI cam0 · fy −0.24 px
TUM-VI cam0 · cx +0.38 px ◆
TUM-VI cam0 · cy +0.30 px ◆
TUM-VI cam0 · dist k1 +0.00023
TUM-VI cam0 · dist k2 +0.00024
TUM-VI cam0 · dist k3 −0.00028
TUM-VI cam0 · dist k4 +0.00008
TUM-VI cam1 · fx −0.26 px
TUM-VI cam1 · fy −0.22 px
TUM-VI cam1 · cx +0.34 px ◆
TUM-VI cam1 · cy +0.38 px ◆
TUM-VI cam1 · dist k1 −0.00003
TUM-VI cam1 · dist k2 +0.00063
TUM-VI cam1 · dist k3 −0.00020
TUM-VI cam1 · dist k4 −0.00001
TUM-VI cam1 · baseline to TUM-VI cam0 −0.001 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

2 sensors, 17 parameter charts (open to see each tool's spread)

TUM-VI cam0TUM-VI cam1

fx px axis 382 ± 1.05

MVIS 381.94 ± 0.37 (8)

Kalibr 381.77 ± 0.64 (8)

Basalt 381.65 ± 0.4 (8)

fy px axis 382 ± 1.06

MVIS 381.88 ± 0.41 (8)

Kalibr 381.73 ± 0.66 (8)

Basalt 381.65 ± 0.41 (8)

cx px axis 510 ± 0.846

MVIS 509.78 ± 0.29 (8)

Kalibr 510.06 ± 0.2 (8)

Basalt 510.17 ± 0.24 (8)

cy px axis 514 ± 0.65

MVIS 513.81 ± 0.17 (8)

Kalibr 514.08 ± 0.24 (8)

Basalt 514.11 ± 0.11 (8)

dist k1 axis 0.005 ± 0.0095

MVIS 0.00500 ± 0.0017 (8)

Kalibr 0.00475 ± 0.0039 (8)

Basalt 0.00523 ± 0.0014 (8)

dist k2 axis −0.0016 ± 0.0158

MVIS −0.00160 ± 0.0028 (8)

Kalibr −0.00240 ± 0.0069 (8)

Basalt −0.00137 ± 0.002 (8)

dist k3 axis −0.000478 ± 0.0112

MVIS −0.00048 ± 0.002 (8)

Kalibr 0.00000 ± 0.0049 (8)

Basalt −0.00076 ± 0.0015 (8)

dist k4 axis −0.000112 ± 0.00275

MVIS −0.00011 ± 0.0005 (8)

Kalibr −0.00023 ± 0.0012 (8)

Basalt −0.00004 ± 0.00039 (8)

fx px axis 381 ± 1.28

MVIS 380.57 ± 0.4 (8)

Kalibr 380.70 ± 0.67 (8)

Basalt 380.30 ± 0.43 (8)

fy px axis 380 ± 1.24

MVIS 380.49 ± 0.43 (8)

Kalibr 380.65 ± 0.67 (8)

Basalt 380.26 ± 0.43 (8)

cx px axis 505 ± 0.795

MVIS 505.06 ± 0.28 (8)

Kalibr 505.35 ± 0.19 (8)

Basalt 505.40 ± 0.21 (8)

cy px axis 510 ± 0.922

MVIS 509.61 ± 0.38 (8)

Kalibr 509.94 ± 0.32 (8)

Basalt 510.00 ± 0.31 (8)

dist k1 axis 0.0066 ± 0.00863

MVIS 0.00662 ± 0.0013 (8)

Kalibr 0.00592 ± 0.0032 (8)

Basalt 0.00660 ± 0.0011 (8)

dist k2 axis −0.00299 ± 0.0153

MVIS −0.00362 ± 0.0022 (8)

Kalibr −0.00273 ± 0.0057 (8)

Basalt −0.00299 ± 0.0015 (8)

dist k3 axis 0.000499 ± 0.0106

MVIS 0.00070 ± 0.0016 (8)

Kalibr 0.00039 ± 0.0038 (8)

Basalt 0.00050 ± 0.00098 (8)

dist k4 axis −0.000362 ± 0.00247

MVIS −0.00035 ± 0.00039 (8)

Kalibr −0.00036 ± 0.00088 (8)

Basalt −0.00036 ± 0.00024 (8)

baseline to TUM-VI cam0 mm axis 101 ± 0.177

MVIS 101.048 ± 0.08 (8)

Kalibr 101.049 ± 0.098 (8)

Basalt 101.047 ± 0.082 (8)

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

2 notes on models, inputs and run settings

No charted value is an input or comes from another model.

Note: Every tool ran on the same ≤ 85° view-filtered bags (TUM-VI corners beyond 85° break pinhole-equi in Kalibr).

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

T9 · camera + IMU

Camera + IMU, raw stream · 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

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 T9.json · Kalibr T9.json · Basalt T9.json

Fit: reprojection median, px (fit of each tool's own model, not accuracy)

Camera	MVIS	MVIS (K-IMU)	Kalibr	Basalt
TUM-VI cam0	0.096	0.096	0.108	–
TUM-VI cam1	0.092	0.092	0.109	–

Where the tools differ

MVIS (K-IMU) − Kalibr ◆ 9 of 13 compared rows

only ◆ rows

TUM-VI cam0 · time offset td to base IMU +0.931 ms ◆
TUM-VI cam0 · distance to base IMU ‖p‖ −0.38 mm
TUM-VI cam1 · time offset td to base IMU +0.937 ms ◆
TUM-VI cam1 · distance to base IMU ‖p‖ +1.73 mm ◆
BMI160 imu0 · gyro Dw[0,0] scale x +0.00076 ◆
BMI160 imu0 · gyro Dw[1,1] scale y −0.00005
BMI160 imu0 · gyro Dw[2,2] scale z −0.00119 ◆
BMI160 imu0 · gyro Dw[1,0] cross −0.00088 ◆
BMI160 imu0 · gyro Dw[2,0] cross −0.00076 ◆
BMI160 imu0 · gyro Dw[2,1] cross +0.00137 ◆
BMI160 imu0 · accel Da[0,0] scale x −0.00022
BMI160 imu0 · accel Da[1,1] scale y +0.00074 ◆
BMI160 imu0 · accel Da[2,2] scale z −0.00076

Basalt − Kalibr ◆ 6 of 13 compared rows

only ◆ rows

TUM-VI cam0 · time offset td to base IMU +0.069 ms
TUM-VI cam0 · distance to base IMU ‖p‖ −0.33 mm
TUM-VI cam1 · time offset td to base IMU +0.072 ms
TUM-VI cam1 · distance to base IMU ‖p‖ +1.31 mm ◆
BMI160 imu0 · gyro Dw[0,0] scale x +0.00070 ◆
BMI160 imu0 · gyro Dw[1,1] scale y −0.00003
BMI160 imu0 · gyro Dw[2,2] scale z −0.00123 ◆
BMI160 imu0 · gyro Dw[1,0] cross −0.00067 ◆
BMI160 imu0 · gyro Dw[2,0] cross −0.00069 ◆
BMI160 imu0 · gyro Dw[2,1] cross +0.00083 ◆
BMI160 imu0 · accel Da[0,0] scale x −0.00003
BMI160 imu0 · accel Da[1,1] scale y +0.00043
BMI160 imu0 · accel Da[2,2] scale z +0.00037

Basalt − MVIS (K-IMU) ◆ 10 of 30 compared rows

only ◆ rows

TUM-VI cam0 · fx −0.17 px ◆
TUM-VI cam0 · fy −0.17 px ◆
TUM-VI cam0 · cx +0.04 px
TUM-VI cam0 · cy +0.08 px ◆
TUM-VI cam0 · dist k1 −0.00023
TUM-VI cam0 · dist k2 +0.00088
TUM-VI cam0 · dist k3 −0.00094
TUM-VI cam0 · dist k4 +0.00029
TUM-VI cam0 · time offset td to base IMU −0.862 ms ◆
TUM-VI cam0 · distance to base IMU ‖p‖ +0.05 mm
TUM-VI cam1 · fx −0.17 px ◆
TUM-VI cam1 · fy −0.18 px ◆
TUM-VI cam1 · cx +0.04 px
TUM-VI cam1 · cy −0.02 px
TUM-VI cam1 · dist k1 −0.00014
TUM-VI cam1 · dist k2 +0.00082
TUM-VI cam1 · dist k3 −0.00080
TUM-VI cam1 · dist k4 +0.00021
TUM-VI cam1 · baseline to TUM-VI cam0 −0.004 mm
TUM-VI cam1 · time offset td to base IMU −0.865 ms ◆
TUM-VI cam1 · distance to base IMU ‖p‖ −0.42 mm ◆
BMI160 imu0 · gyro Dw[0,0] scale x −0.00006
BMI160 imu0 · gyro Dw[1,1] scale y +0.00002
BMI160 imu0 · gyro Dw[2,2] scale z −0.00004
BMI160 imu0 · gyro Dw[1,0] cross +0.00021
BMI160 imu0 · gyro Dw[2,0] cross +0.00006
BMI160 imu0 · gyro Dw[2,1] cross −0.00054 ◆
BMI160 imu0 · accel Da[0,0] scale x +0.00019
BMI160 imu0 · accel Da[1,1] scale y −0.00031
BMI160 imu0 · accel Da[2,2] scale z +0.00114 ◆

Parameters by sensor

3 sensors, 31 parameter charts (open to see each tool's spread)

TUM-VI cam0TUM-VI cam1BMI160 imu0

fx px axis 383 ± 0.534

MVIS 382.71 ± 0.086 (4)

MVIS (K-IMU) 382.71 ± 0.086 (4)

Kalibr 382.14 ± 0 (4) input

Basalt 382.54 ± 0.11 (4)

fy px axis 383 ± 0.35

MVIS 382.67 ± 0.084 (4)

MVIS (K-IMU) 382.67 ± 0.084 (4)

Kalibr 382.26 ± 0 (4) input

Basalt 382.50 ± 0.12 (4)

cx px axis 510 ± 0.222

MVIS 509.90 ± 0.15 (4)

MVIS (K-IMU) 509.90 ± 0.15 (4)

Kalibr 509.82 ± 0 (4) input

Basalt 509.94 ± 0.16 (4)

cy px axis 514 ± 0.503

MVIS 514.01 ± 0.043 (4)

MVIS (K-IMU) 514.01 ± 0.043 (4)

Kalibr 514.51 ± 0 (4) input

Basalt 514.09 ± 0.045 (4)

dist k1 axis 0.00467 ± 0.00265

MVIS 0.00467 ± 0.0011 (4)

MVIS (K-IMU) 0.00467 ± 0.0011 (4)

Kalibr 0.00477 ± 9e−13 (4) input

Basalt 0.00445 ± 0.0014 (4)

dist k2 axis −0.00282 ± 0.00518

MVIS −0.00326 ± 0.0019 (4)

MVIS (K-IMU) −0.00326 ± 0.0019 (4)

Kalibr −0.00223 ± 1.6e−12 (4) input

Basalt −0.00239 ± 0.0028 (4)

dist k3 axis 0.000703 ± 0.00371

MVIS 0.00117 ± 0.0013 (4)

MVIS (K-IMU) 0.00117 ± 0.0013 (4)

Kalibr −0.00007 ± 2.6e−12 (4) input

Basalt 0.00023 ± 0.0021 (4)

dist k4 axis −0.000423 ± 0.000915

MVIS −0.00057 ± 0.00027 (4)

MVIS (K-IMU) −0.00057 ± 0.00027 (4)

Kalibr −0.00023 ± 3.9e−12 (4) input

Basalt −0.00028 ± 0.00054 (4)

time offset td to base IMU ms axis −0.284 ± 0.731 · line at 0

MVIS 0.172 ± 0.01 (4)

MVIS (K-IMU) 0.147 ± 0.014 (4)

Kalibr −0.784 ± 0.15 (4)

Basalt −0.715 ± 0.1 (4)

distance to base IMU ‖p‖ mm axis 95 ± 1.03

MVIS 94.95 ± 0.37 (4)

MVIS (K-IMU) 94.96 ± 0.37 (4)

Kalibr 95.34 ± 0.49 (4)

Basalt 95.01 ± 0.23 (4)

fx px axis 381 ± 0.425

MVIS 381.29 ± 0.055 (4)

MVIS (K-IMU) 381.29 ± 0.055 (4)

Kalibr 381.68 ± 2.8e−14 (4) input

Basalt 381.13 ± 0.11 (4)

fy px axis 381 ± 0.648

MVIS 381.27 ± 0.052 (4)

MVIS (K-IMU) 381.27 ± 0.052 (4)

Kalibr 381.86 ± 3.3e−14 (4) input

Basalt 381.09 ± 0.13 (4)

cx px axis 505 ± 0.19

MVIS 505.30 ± 0.13 (4)

MVIS (K-IMU) 505.30 ± 0.13 (4)

Kalibr 505.17 ± 0 (4) input

Basalt 505.34 ± 0.13 (4)

cy px axis 510 ± 0.307

MVIS 510.12 ± 0.12 (4)

MVIS (K-IMU) 510.12 ± 0.12 (4)

Kalibr 510.40 ± 0 (4) input

Basalt 510.09 ± 0.12 (4)

dist k1 axis 0.00604 ± 0.00167

MVIS 0.00604 ± 0.00073 (4)

MVIS (K-IMU) 0.00604 ± 0.00073 (4)

Kalibr 0.00755 ± 9.3e−13 (4) input

Basalt 0.00589 ± 0.00088 (4)

dist k2 axis −0.0038 ± 0.00316

MVIS −0.00380 ± 0.0013 (4)

MVIS (K-IMU) −0.00380 ± 0.0013 (4)

Kalibr −0.00667 ± 2.1e−12 (4) input

Basalt −0.00298 ± 0.0015 (4)

dist k3 axis 0.0013 ± 0.00247

MVIS 0.00130 ± 0.00099 (4)

MVIS (K-IMU) 0.00130 ± 0.00099 (4)

Kalibr 0.00285 ± 3.7e−12 (4) input

Basalt 0.00050 ± 0.0011 (4)

dist k4 axis −0.000515 ± 0.000634

MVIS −0.00052 ± 0.00026 (4)

MVIS (K-IMU) −0.00052 ± 0.00026 (4)

Kalibr −0.00087 ± 6.2e−12 (4) input

Basalt −0.00031 ± 0.00027 (4)

baseline to TUM-VI cam0 mm axis 101 ± 0.212

MVIS 101.138 ± 0.007 (4)

MVIS (K-IMU) 101.138 ± 0.007 (4)

Kalibr 101.004 ± 0.038 (4) input

Basalt 101.134 ± 0.0052 (4)

time offset td to base IMU ms axis −0.282 ± 0.731 · line at 0

MVIS 0.176 ± 0.012 (4)

MVIS (K-IMU) 0.150 ± 0.015 (4)

Kalibr −0.787 ± 0.15 (4)

Basalt −0.715 ± 0.1 (4)

distance to base IMU ‖p‖ mm axis 99.8 ± 2.04

MVIS 100.04 ± 0.41 (4)

MVIS (K-IMU) 100.04 ± 0.41 (4)

Kalibr 98.31 ± 0.33 (4)

Basalt 99.62 ± 0.35 (4)

gyro Dw[0,0] scale x axis 0.946 ± 0.00123

MVIS no value

MVIS (K-IMU) 0.94568 ± 0.00016 (4)

Kalibr 0.94493 ± 0.00042 (4)

Basalt 0.94562 ± 0.00018 (4)

gyro Dw[1,1] scale y axis 1.09 ± 0.000275

MVIS no value

MVIS (K-IMU) 1.09414 ± 0.00013 (4)

Kalibr 1.09419 ± 0.00014 (4)

Basalt 1.09416 ± 0.00013 (4)

gyro Dw[2,2] scale z axis 1.02 ± 0.00168

MVIS no value

MVIS (K-IMU) 1.01744 ± 0.00015 (4)

Kalibr 1.01863 ± 0.00022 (4)

Basalt 1.01740 ± 0.00016 (4)

gyro Dw[1,0] cross axis 0.00135 ± 0.00134

MVIS no value

MVIS (K-IMU) 0.00113 ± 0.00017 (4)

Kalibr 0.00202 ± 0.00055 (4)

Basalt 0.00135 ± 0.00044 (4)

gyro Dw[2,0] cross axis 0.00058 ± 0.00211

MVIS no value

MVIS (K-IMU) 0.00052 ± 0.00032 (4)

Kalibr 0.00127 ± 0.00068 (4)

Basalt 0.00058 ± 0.00014 (4)

gyro Dw[2,1] cross axis 0.0058 ± 0.00106

MVIS no value

MVIS (K-IMU) 0.00634 ± 0.00012 (4)

Kalibr 0.00497 ± 0.00013 (4)

Basalt 0.00580 ± 0.00045 (4)

accel Da[0,0] scale x axis 1.01 ± 0.00193

MVIS no value

MVIS (K-IMU) 1.00717 ± 0.00088 (4)

Kalibr 1.00739 ± 0.00027 (4)

Basalt 1.00736 ± 0.000054 (4)

accel Da[1,1] scale y axis 1.01 ± 0.00124

MVIS no value

MVIS (K-IMU) 1.00696 ± 0.00044 (4)

Kalibr 1.00622 ± 0.00054 (4)

Basalt 1.00665 ± 0.00035 (4)

accel Da[2,2] scale z axis 0.972 ± 0.00184

MVIS no value

MVIS (K-IMU) 0.97126 ± 0.00091 (4)

Kalibr 0.97202 ± 0.0003 (4)

Basalt 0.97239 ± 0.00044 (4)

t_ga gyro−accel ms axis −1.51 ± 0.115

MVIS not in this tool's model

MVIS (K-IMU) −1.508 ± 0.07 (4)

Kalibr not in this tool's model

Basalt not in this tool's model

Model notes and how each tool was run

3 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) · BMI160 imu0

0.0100.0880.082−0.017−0.031−0.026−0.014−0.0750.017

Kalibr · BMI160 imu0

0.0161.0430.152−0.490−0.049−0.015−0.150−0.0920.010

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

T10 · camera + IMU

Camera + IMU, standard-512 · 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

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 T10.json · Kalibr T10.json · Basalt T10.json

Fit: reprojection median, px (fit of each tool's own model, not accuracy)

Camera	MVIS	MVIS (K-IMU)	Kalibr	Basalt
TUM-VI cam0	0.077	0.077	0.081	–
TUM-VI cam1	0.078	0.078	0.080	–

Where the tools differ

MVIS (K-IMU) − Kalibr ◆ 10 of 13 compared rows

only ◆ rows

TUM-VI cam0 · time offset td to base IMU +0.905 ms ◆
TUM-VI cam0 · distance to base IMU ‖p‖ −1.05 mm ◆
TUM-VI cam1 · time offset td to base IMU +0.912 ms ◆
TUM-VI cam1 · distance to base IMU ‖p‖ −0.36 mm ◆
BMI160 imu0 · gyro Dw[0,0] scale x −0.00071 ◆
BMI160 imu0 · gyro Dw[1,1] scale y −0.00018 ◆
BMI160 imu0 · gyro Dw[2,2] scale z −0.00075 ◆
BMI160 imu0 · gyro Dw[1,0] cross +0.00072 ◆
BMI160 imu0 · gyro Dw[2,0] cross +0.00014
BMI160 imu0 · gyro Dw[2,1] cross +0.00147 ◆
BMI160 imu0 · accel Da[0,0] scale x +0.00032 ◆
BMI160 imu0 · accel Da[1,1] scale y +0.00012
BMI160 imu0 · accel Da[2,2] scale z +0.00009

Basalt − Kalibr ◆ 6 of 13 compared rows

only ◆ rows

TUM-VI cam0 · time offset td to base IMU +0.079 ms
TUM-VI cam0 · distance to base IMU ‖p‖ −1.24 mm ◆
TUM-VI cam1 · time offset td to base IMU +0.086 ms
TUM-VI cam1 · distance to base IMU ‖p‖ −0.88 mm ◆
BMI160 imu0 · gyro Dw[0,0] scale x −0.00069 ◆
BMI160 imu0 · gyro Dw[1,1] scale y −0.00015
BMI160 imu0 · gyro Dw[2,2] scale z −0.00105 ◆
BMI160 imu0 · gyro Dw[1,0] cross +0.00062 ◆
BMI160 imu0 · gyro Dw[2,0] cross +0.00010
BMI160 imu0 · gyro Dw[2,1] cross +0.00103 ◆
BMI160 imu0 · accel Da[0,0] scale x −0.00003
BMI160 imu0 · accel Da[1,1] scale y +0.00012
BMI160 imu0 · accel Da[2,2] scale z −0.00046

Basalt − MVIS (K-IMU) ◆ 16 of 30 compared rows

only ◆ rows

TUM-VI cam0 · fx +0.29 px ◆
TUM-VI cam0 · fy +0.29 px ◆
TUM-VI cam0 · cx +0.16 px ◆
TUM-VI cam0 · cy +0.18 px ◆
TUM-VI cam0 · dist k1 −0.00108
TUM-VI cam0 · dist k2 +0.00096
TUM-VI cam0 · dist k3 −0.00040
TUM-VI cam0 · dist k4 −0.00002
TUM-VI cam0 · time offset td to base IMU −0.827 ms ◆
TUM-VI cam0 · distance to base IMU ‖p‖ −0.19 mm
TUM-VI cam1 · fx +0.26 px ◆
TUM-VI cam1 · fy +0.27 px ◆
TUM-VI cam1 · cx +0.16 px ◆
TUM-VI cam1 · cy +0.14 px ◆
TUM-VI cam1 · dist k1 −0.00255 ◆
TUM-VI cam1 · dist k2 +0.00424 ◆
TUM-VI cam1 · dist k3 −0.00298
TUM-VI cam1 · dist k4 +0.00078
TUM-VI cam1 · baseline to TUM-VI cam0 −0.063 mm ◆
TUM-VI cam1 · time offset td to base IMU −0.827 ms ◆
TUM-VI cam1 · distance to base IMU ‖p‖ −0.52 mm ◆
BMI160 imu0 · gyro Dw[0,0] scale x +0.00002
BMI160 imu0 · gyro Dw[1,1] scale y +0.00003
BMI160 imu0 · gyro Dw[2,2] scale z −0.00030 ◆
BMI160 imu0 · gyro Dw[1,0] cross −0.00010
BMI160 imu0 · gyro Dw[2,0] cross −0.00004
BMI160 imu0 · gyro Dw[2,1] cross −0.00044
BMI160 imu0 · accel Da[0,0] scale x −0.00035 ◆
BMI160 imu0 · accel Da[1,1] scale y 0.00000
BMI160 imu0 · accel Da[2,2] scale z −0.00055

Parameters by sensor

3 sensors, 31 parameter charts (open to see each tool's spread)

TUM-VI cam0TUM-VI cam1BMI160 imu0

fx px axis 192 ± 0.53

MVIS 191.51 ± 0.085 (4)

MVIS (K-IMU) 191.51 ± 0.085 (4)

Kalibr 191.03 ± 1.6e−14 (4) input

Basalt 191.80 ± 0.18 (4)

fy px axis 191 ± 0.592

MVIS 191.49 ± 0.096 (4)

MVIS (K-IMU) 191.49 ± 0.096 (4)

Kalibr 190.95 ± 1.6e−14 (4) input

Basalt 191.77 ± 0.18 (4)

cx px axis 255 ± 0.436

MVIS 254.59 ± 0.072 (4)

MVIS (K-IMU) 254.59 ± 0.072 (4)

Kalibr 255.07 ± 0 (4) input

Basalt 254.76 ± 0.091 (4)

cy px axis 257 ± 0.686

MVIS 256.65 ± 0.026 (4)

MVIS (K-IMU) 256.65 ± 0.026 (4)

Kalibr 257.36 ± 0 (4) input

Basalt 256.82 ± 0.026 (4)

dist k1 axis 0.00367 ± 0.00372

MVIS 0.00367 ± 0.00076 (4)

MVIS (K-IMU) 0.00367 ± 0.00076 (4)

Kalibr 0.00659 ± 3.2e−13 (4) input

Basalt 0.00259 ± 0.0023 (4)

dist k2 axis −0.00145 ± 0.00721

MVIS −0.00145 ± 0.0011 (4)

MVIS (K-IMU) −0.00145 ± 0.0011 (4)

Kalibr −0.00617 ± 3.5e−13 (4) input

Basalt −0.00049 ± 0.0049 (4)

dist k3 axis −0.000164 ± 0.006

MVIS −0.00016 ± 0.0005 (4)

MVIS (K-IMU) −0.00016 ± 0.0005 (4)

Kalibr 0.00315 ± 4e−13 (4) input

Basalt −0.00056 ± 0.0039 (4)

dist k4 axis −0.00013 ± 0.0016

MVIS −0.00012 ± 0.00012 (4)

MVIS (K-IMU) −0.00012 ± 0.00012 (4)

Kalibr −0.00106 ± 6.2e−13 (4) input

Basalt −0.00014 ± 0.001 (4)

time offset td to base IMU ms axis −0.231 ± 0.74 · line at 0

MVIS 0.184 ± 0.012 (4)

MVIS (K-IMU) 0.182 ± 0.015 (4)

Kalibr −0.723 ± 0.17 (4)

Basalt −0.644 ± 0.12 (4)

distance to base IMU ‖p‖ mm axis 94.6 ± 1.39

MVIS 94.55 ± 0.18 (4)

MVIS (K-IMU) 94.55 ± 0.18 (4)

Kalibr 95.60 ± 0.21 (4)

Basalt 94.36 ± 0.2 (4)

fx px axis 191 ± 0.44

MVIS 190.86 ± 0.14 (4)

MVIS (K-IMU) 190.86 ± 0.14 (4)

Kalibr 190.50 ± 0 (4) input

Basalt 191.12 ± 0.14 (4)

fy px axis 191 ± 0.438

MVIS 190.84 ± 0.16 (4)

MVIS (K-IMU) 190.84 ± 0.16 (4)

Kalibr 190.48 ± 0 (4) input

Basalt 191.11 ± 0.13 (4)

cx px axis 252 ± 0.542

MVIS 252.28 ± 0.056 (4)

MVIS (K-IMU) 252.28 ± 0.056 (4)

Kalibr 252.85 ± 0 (4) input

Basalt 252.44 ± 0.095 (4)

cy px axis 255 ± 0.357

MVIS 254.70 ± 0.074 (4)

MVIS (K-IMU) 254.70 ± 0.074 (4)

Kalibr 255.10 ± 0 (4) input

Basalt 254.84 ± 0.083 (4)

dist k1 axis 0.00585 ± 0.00468

MVIS 0.00585 ± 0.0011 (4)

MVIS (K-IMU) 0.00585 ± 0.0011 (4)

Kalibr 0.00791 ± 1.5e−13 (4) input

Basalt 0.00330 ± 0.0017 (4)

dist k2 axis −0.00389 ± 0.00933

MVIS −0.00389 ± 0.002 (4)

MVIS (K-IMU) −0.00389 ± 0.002 (4)

Kalibr −0.00655 ± 3.5e−13 (4) input

Basalt 0.00035 ± 0.0042 (4)

dist k3 axis 0.00149 ± 0.00785

MVIS 0.00149 ± 0.0016 (4)

MVIS (K-IMU) 0.00149 ± 0.0016 (4)

Kalibr 0.00304 ± 6.6e−13 (4) input

Basalt −0.00149 ± 0.0042 (4)

dist k4 axis −0.00061 ± 0.00227

MVIS −0.00061 ± 0.00042 (4)

MVIS (K-IMU) −0.00061 ± 0.00042 (4)

Kalibr −0.00097 ± 1.1e−12 (4) input

Basalt 0.00017 ± 0.0013 (4)

baseline to TUM-VI cam0 mm axis 101 ± 0.104

MVIS 101.185 ± 0.024 (4)

MVIS (K-IMU) 101.185 ± 0.024 (4)

Kalibr 101.120 ± 0.038 (4) input

Basalt 101.122 ± 0.054 (4)

time offset td to base IMU ms axis −0.231 ± 0.741 · line at 0

MVIS 0.184 ± 0.0084 (4)

MVIS (K-IMU) 0.182 ± 0.01 (4)

Kalibr −0.730 ± 0.16 (4)

Basalt −0.644 ± 0.12 (4)

distance to base IMU ‖p‖ mm axis 99.3 ± 0.844

MVIS 99.31 ± 0.31 (4)

MVIS (K-IMU) 99.31 ± 0.31 (4)

Kalibr 99.66 ± 0.26 (4)

Basalt 98.79 ± 0.25 (4)

gyro Dw[0,0] scale x axis 1 ± 0.0013

MVIS no value

MVIS (K-IMU) 1.00173 ± 0.00018 (4)

Kalibr 1.00244 ± 0.00035 (4)

Basalt 1.00175 ± 0.00027 (4)

gyro Dw[1,1] scale y axis 1 ± 0.000342 · line at 1

MVIS no value

MVIS (K-IMU) 0.99997 ± 0.00015 (4)

Kalibr 1.00015 ± 0.00016 (4)

Basalt 1.00000 ± 0.00014 (4)

gyro Dw[2,2] scale z axis 1 ± 0.00131 · line at 1

MVIS no value

MVIS (K-IMU) 1.00117 ± 0.00015 (4)

Kalibr 1.00192 ± 0.00033 (4)

Basalt 1.00087 ± 0.00029 (4)

gyro Dw[1,0] cross axis −0.000539 ± 0.00176

MVIS no value

MVIS (K-IMU) −0.00044 ± 0.00012 (4)

Kalibr −0.00115 ± 0.00051 (4)

Basalt −0.00054 ± 0.00049 (4)

gyro Dw[2,0] cross axis 0.000883 ± 0.00157

MVIS no value

MVIS (K-IMU) 0.00092 ± 0.00013 (4)

Kalibr 0.00079 ± 0.00081 (4)

Basalt 0.00088 ± 0.00015 (4)

gyro Dw[2,1] cross axis 0.000424 ± 0.0017

MVIS no value

MVIS (K-IMU) 0.00086 ± 0.00011 (4)

Kalibr −0.00061 ± 0.00035 (4)

Basalt 0.00042 ± 0.00056 (4)

accel Da[0,0] scale x axis 1 ± 0.000418

MVIS no value

MVIS (K-IMU) 1.00328 ± 0.000037 (4)

Kalibr 1.00296 ± 0.00017 (4)

Basalt 1.00293 ± 0.000071 (4)

accel Da[1,1] scale y axis 1.01 ± 0.000814

MVIS no value

MVIS (K-IMU) 1.00527 ± 0.00028 (4)

Kalibr 1.00515 ± 0.00046 (4)

Basalt 1.00527 ± 0.0003 (4)

accel Da[2,2] scale z axis 1 ± 0.00166

MVIS no value

MVIS (K-IMU) 1.00203 ± 0.00047 (4)

Kalibr 1.00194 ± 0.00047 (4)

Basalt 1.00148 ± 0.00099 (4)

t_ga gyro−accel ms axis −1.64 ± 0.0883

MVIS not in this tool's model

MVIS (K-IMU) −1.641 ± 0.057 (4)

Kalibr not in this tool's model

Basalt not in this tool's model

Model notes and how each tool was run

3 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) · BMI160 imu0

0.0150.0010.006−0.015−0.0150.0100.005−0.0270.009

Kalibr · BMI160 imu0

0.0200.9640.108−0.522−0.032−0.009−0.096−0.0760.002

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

Full tables

Every parameter table, tool difference and run config (TUM-VI)

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.

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.

T3 · Camera stereo (raw)

MVIS 8 of 8 · Kalibr 8 of 8 · Basalt 8 of 8

Camera · cam1–cam8 · Kalibr kalibr_calibrate_cameras, pinhole-equi

Read first: Every tool ran on the same bags, filtered to view angles of 85° or less.

Notes

Note: Every tool ran on the same ≤ 85° view-filtered bags (TUM-VI corners beyond 85° break pinhole-equi in Kalibr).

cam0 – TUM-VI cam0 · 8 rows · ◆ 2

Parameter	MVIS	Kalibr	Basalt	MVIS− Kalibr	Basalt− Kalibr	Basalt− MVIS
fx px	381.94 ± 0.37 (8)	381.77 ± 0.64 (8)	381.65 ± 0.40 (8)	+0.17	−0.12	−0.29
fy px	381.88 ± 0.41 (8)	381.73 ± 0.66 (8)	381.65 ± 0.41 (8)	+0.15	−0.08	−0.24
cx px	509.78 ± 0.29 (8)	510.06 ± 0.20 (8)	510.17 ± 0.24 (8)	−0.28	+0.11	◆ +0.38
cy px	513.81 ± 0.17 (8)	514.08 ± 0.24 (8)	514.11 ± 0.11 (8)	◆ −0.27	+0.03	◆ +0.30
dist k1	0.00500 ± 0.00167 (8)	0.00475 ± 0.00392 (8)	0.00523 ± 0.00143 (8)	+0.00025	+0.00048	+0.00023
dist k2	−0.00160 ± 0.00284 (8)	−0.00240 ± 0.00685 (8)	−0.00137 ± 0.00203 (8)	+0.00080	+0.00103	+0.00024
dist k3	−0.00048 ± 0.00201 (8)	0.00000 ± 0.00488 (8)	−0.00076 ± 0.00147 (8)	−0.00048	−0.00076	−0.00028
dist k4	−0.00011 ± 0.00050 (8)	−0.00023 ± 0.00118 (8)	−0.00004 ± 0.00039 (8)	+0.00012	+0.00019	+0.00008

cam1 – TUM-VI cam1 · 9 rows · ◆ 2

Parameter	MVIS	Kalibr	Basalt	MVIS− Kalibr	Basalt− Kalibr	Basalt− MVIS
fx px	380.57 ± 0.40 (8)	380.70 ± 0.67 (8)	380.30 ± 0.43 (8)	−0.13	−0.40	−0.26
fy px	380.49 ± 0.43 (8)	380.65 ± 0.67 (8)	380.26 ± 0.43 (8)	−0.16	−0.38	−0.22
cx px	505.06 ± 0.28 (8)	505.35 ± 0.19 (8)	505.40 ± 0.21 (8)	◆ −0.30	+0.05	◆ +0.34
cy px	509.61 ± 0.38 (8)	509.94 ± 0.32 (8)	510.00 ± 0.31 (8)	−0.33	+0.05	◆ +0.38
dist k1	0.00662 ± 0.00126 (8)	0.00592 ± 0.00318 (8)	0.00660 ± 0.00105 (8)	+0.00070	+0.00067	−0.00003
dist k2	−0.00362 ± 0.00220 (8)	−0.00273 ± 0.00568 (8)	−0.00299 ± 0.00150 (8)	−0.00089	−0.00026	+0.00063
dist k3	0.00070 ± 0.00160 (8)	0.00039 ± 0.00384 (8)	0.00050 ± 0.00098 (8)	+0.00031	+0.00011	−0.00020
dist k4	−0.00035 ± 0.00039 (8)	−0.00036 ± 0.00088 (8)	−0.00036 ± 0.00024 (8)	+0.00001	0.00000	−0.00001
baseline to TUM-VI cam0 mm	101.048 ± 0.080 (8)	101.049 ± 0.098 (8)	101.047 ± 0.082 (8)	−0.001	−0.002	−0.001

T9 · Camera + IMU, raw stream

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

Camera + IMU · imu1–imu4 · 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.

cam0 – TUM-VI cam0 · 11 rows · ◆ 4

Parameter	MVISKalibr IMU model	Kalibr	Basalt	MVIS− Kalibr	Basalt− Kalibr	Basalt− MVIS
fx px	382.71 ± 0.09 (4)	fixed 382.14 (4)	382.54 ± 0.11 (4)			◆ −0.17
fy px	382.67 ± 0.08 (4)	fixed 382.26 (4)	382.50 ± 0.12 (4)			◆ −0.17
cx px	509.90 ± 0.15 (4)	fixed 509.82 (4)	509.94 ± 0.16 (4)			+0.04
cy px	514.01 ± 0.04 (4)	fixed 514.51 (4)	514.09 ± 0.05 (4)			◆ +0.08
dist k1	0.00467 ± 0.00107 (4)	fixed 0.00477 (4)	0.00445 ± 0.00137 (4)			−0.00023
dist k2	−0.00326 ± 0.00190 (4)	fixed −0.00223 (4)	−0.00239 ± 0.00277 (4)			+0.00088
dist k3	0.00117 ± 0.00126 (4)	fixed −0.00007 (4)	0.00023 ± 0.00211 (4)			−0.00094
dist k4	−0.00057 ± 0.00027 (4)	fixed −0.00023 (4)	−0.00028 ± 0.00054 (4)			+0.00029
time offset td to base IMU^‡ ms	0.147 ± 0.014 (4)	−0.784 ± 0.148 (4)	−0.715 ± 0.100 (4)	◆ +0.931	+0.069	◆ −0.862
distance to base IMU ‖p‖ mm	94.96 ± 0.37 (4)	95.34 ± 0.49 (4)	95.01 ± 0.23 (4)	−0.38	−0.33	+0.05
reproj median px	0.096 ± 0.006 (4)	0.108 ± 0.007 (4)	not reported	fit

cam1 – TUM-VI cam1 · 12 rows · ◆ 4

Parameter	MVISKalibr IMU model	Kalibr	Basalt	MVIS− Kalibr	Basalt− Kalibr	Basalt− MVIS
fx px	381.29 ± 0.05 (4)	fixed 381.68 (4)	381.13 ± 0.11 (4)			◆ −0.17
fy px	381.27 ± 0.05 (4)	fixed 381.86 (4)	381.09 ± 0.13 (4)			◆ −0.18
cx px	505.30 ± 0.13 (4)	fixed 505.17 (4)	505.34 ± 0.13 (4)			+0.04
cy px	510.12 ± 0.12 (4)	fixed 510.40 (4)	510.09 ± 0.12 (4)			−0.02
dist k1	0.00604 ± 0.00073 (4)	fixed 0.00755 (4)	0.00589 ± 0.00088 (4)			−0.00014
dist k2	−0.00380 ± 0.00133 (4)	fixed −0.00667 (4)	−0.00298 ± 0.00149 (4)			+0.00082
dist k3	0.00130 ± 0.00099 (4)	fixed 0.00285 (4)	0.00050 ± 0.00106 (4)			−0.00080
dist k4	−0.00052 ± 0.00026 (4)	fixed −0.00087 (4)	−0.00031 ± 0.00027 (4)			+0.00021
baseline to TUM-VI cam0 mm	101.138 ± 0.007 (4)	fixed 101.004 ± 0.038 (4)	101.134 ± 0.005 (4)			−0.004
time offset td to base IMU^‡ ms	0.150 ± 0.015 (4)	−0.787 ± 0.149 (4)	−0.715 ± 0.100 (4)	◆ +0.937	+0.072	◆ −0.865
distance to base IMU ‖p‖ mm	100.04 ± 0.41 (4)	98.31 ± 0.33 (4)	99.62 ± 0.35 (4)	◆ +1.73	◆ +1.31	◆ −0.42
reproj median px	0.092 ± 0.005 (4)	0.109 ± 0.005 (4)	not reported	fit

base IMU – BMI160 imu0 · 19 rows · ◆ 7

Parameter	MVISKalibr IMU model	Kalibr	Basalt	MVIS− Kalibr	Basalt− Kalibr	Basalt− MVIS
gyro Dw[0,0] scale x	0.94568 ± 0.00016 (4)	0.94493 ± 0.00042 (4)	0.94562 ± 0.00018 (4)	◆ +0.00076	◆ +0.00070	−0.00006
gyro Dw[1,1] scale y	1.09414 ± 0.00013 (4)	1.09419 ± 0.00014 (4)	1.09416 ± 0.00013 (4)	−0.00005	−0.00003	+0.00002
gyro Dw[2,2] scale z	1.01744 ± 0.00015 (4)	1.01863 ± 0.00022 (4)	1.01740 ± 0.00016 (4)	◆ −0.00119	◆ −0.00123	−0.00004
gyro Dw[1,0] cross	0.00113 ± 0.00017 (4)	0.00202 ± 0.00055 (4)	0.00135 ± 0.00044 (4)	◆ −0.00088	◆ −0.00067	+0.00021
gyro Dw[2,0] cross	0.00052 ± 0.00032 (4)	0.00127 ± 0.00068 (4)	0.00058 ± 0.00014 (4)	◆ −0.00076	◆ −0.00069	+0.00006
gyro Dw[2,1] cross	0.00634 ± 0.00012 (4)	0.00497 ± 0.00013 (4)	0.00580 ± 0.00045 (4)	◆ +0.00137	◆ +0.00083	◆ −0.00054
accel Da[0,0] scale x	1.00717 ± 0.00088 (4)	1.00739 ± 0.00027 (4)	1.00736 ± 0.00005 (4)	−0.00022	−0.00003	+0.00019
accel Da[1,1] scale y	1.00696 ± 0.00044 (4)	1.00622 ± 0.00054 (4)	1.00665 ± 0.00035 (4)	◆ +0.00074	+0.00043	−0.00031
accel Da[2,2] scale z	0.97126 ± 0.00091 (4)	0.97202 ± 0.00030 (4)	0.97239 ± 0.00044 (4)	−0.00076	+0.00037	◆ +0.00114
Tg[0,0] g-sensitivity mrad·s/m	0.010 ± 0.013 (4)	0.016 ± 0.040 (4)	not in model	≠ model
Tg[0,1] g-sensitivity mrad·s/m	0.088 ± 0.032 (4)	1.043 ± 0.272 (4)	not in model	≠ model
Tg[0,2] g-sensitivity mrad·s/m	0.082 ± 0.080 (4)	0.152 ± 0.105 (4)	not in model	≠ model
Tg[1,0] g-sensitivity mrad·s/m	−0.017 ± 0.030 (4)	−0.490 ± 0.324 (4)	not in model	≠ model
Tg[1,1] g-sensitivity mrad·s/m	−0.031 ± 0.027 (4)	−0.049 ± 0.106 (4)	not in model	≠ model
Tg[1,2] g-sensitivity mrad·s/m	−0.026 ± 0.105 (4)	−0.015 ± 0.086 (4)	not in model	≠ model
Tg[2,0] g-sensitivity mrad·s/m	−0.014 ± 0.027 (4)	−0.150 ± 0.041 (4)	not in model	≠ model
Tg[2,1] g-sensitivity mrad·s/m	−0.075 ± 0.036 (4)	−0.092 ± 0.139 (4)	not in model	≠ model
Tg[2,2] g-sensitivity mrad·s/m	0.017 ± 0.020 (4)	0.010 ± 0.053 (4)	not in model	≠ model
t_ga gyro−accel ms	−1.508 ± 0.070 (4)	not in model	not in model

MVIS default IMU model (calyx) · 23 of 42 rows, model-independent only · ◆ 3

Parameter	MVISKalibr IMU model	MVIS default	Kalibr	default− Kalibr	default− Kalibr IMU model
cam0 – TUM-VI cam0
fx px	382.71 ± 0.09 (4)	382.71 ± 0.09 (4)	fixed 382.14 (4)		0.00
fy px	382.67 ± 0.08 (4)	382.67 ± 0.08 (4)	fixed 382.26 (4)		0.00
cx px	509.90 ± 0.15 (4)	509.90 ± 0.15 (4)	fixed 509.82 (4)		0.00
cy px	514.01 ± 0.04 (4)	514.01 ± 0.04 (4)	fixed 514.51 (4)		0.00
dist k1	0.00467 ± 0.00107 (4)	0.00467 ± 0.00107 (4)	fixed 0.00477 (4)		0.00000
dist k2	−0.00326 ± 0.00190 (4)	−0.00326 ± 0.00190 (4)	fixed −0.00223 (4)		0.00000
dist k3	0.00117 ± 0.00126 (4)	0.00117 ± 0.00126 (4)	fixed −0.00007 (4)		0.00000
dist k4	−0.00057 ± 0.00027 (4)	−0.00057 ± 0.00027 (4)	fixed −0.00023 (4)		0.00000
time offset td to base IMU^‡ ms	0.147 ± 0.014 (4)	0.172 ± 0.010 (4)	−0.784 ± 0.148 (4)	◆ +0.957	◆ +0.026
distance to base IMU ‖p‖ mm	94.96 ± 0.37 (4)	94.95 ± 0.37 (4)	95.34 ± 0.49 (4)	−0.39	0.00
reproj median px	0.096 ± 0.006 (4)	0.096 ± 0.006 (4)	0.108 ± 0.007 (4)	fit	fit
cam1 – TUM-VI cam1
fx px	381.29 ± 0.05 (4)	381.29 ± 0.05 (4)	fixed 381.68 (4)		0.00
fy px	381.27 ± 0.05 (4)	381.27 ± 0.05 (4)	fixed 381.86 (4)		0.00
cx px	505.30 ± 0.13 (4)	505.30 ± 0.13 (4)	fixed 505.17 (4)		0.00
cy px	510.12 ± 0.12 (4)	510.12 ± 0.12 (4)	fixed 510.40 (4)		0.00
dist k1	0.00604 ± 0.00073 (4)	0.00604 ± 0.00073 (4)	fixed 0.00755 (4)		0.00000
dist k2	−0.00380 ± 0.00133 (4)	−0.00380 ± 0.00133 (4)	fixed −0.00667 (4)		0.00000
dist k3	0.00130 ± 0.00099 (4)	0.00130 ± 0.00099 (4)	fixed 0.00285 (4)		0.00000
dist k4	−0.00052 ± 0.00026 (4)	−0.00052 ± 0.00026 (4)	fixed −0.00087 (4)		0.00000
baseline to TUM-VI cam0 mm	101.138 ± 0.007 (4)	101.138 ± 0.007 (4)	fixed 101.004 ± 0.038 (4)		0.000
time offset td to base IMU^‡ ms	0.150 ± 0.015 (4)	0.176 ± 0.012 (4)	−0.787 ± 0.149 (4)	◆ +0.962	◆ +0.025
distance to base IMU ‖p‖ mm	100.04 ± 0.41 (4)	100.04 ± 0.41 (4)	98.31 ± 0.33 (4)	◆ +1.74	+0.01
reproj median px	0.092 ± 0.005 (4)	0.092 ± 0.005 (4)	0.109 ± 0.005 (4)	fit	fit

T10 · Camera + IMU, standard-512

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

Camera + IMU · imu1–imu4 · 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.

cam0 – TUM-VI cam0 · 11 rows · ◆ 6

Parameter	MVISKalibr IMU model	Kalibr	Basalt	MVIS− Kalibr	Basalt− Kalibr	Basalt− MVIS
fx px	191.51 ± 0.08 (4)	fixed 191.03 (4)	191.80 ± 0.18 (4)			◆ +0.29
fy px	191.49 ± 0.10 (4)	fixed 190.95 (4)	191.77 ± 0.18 (4)			◆ +0.29
cx px	254.59 ± 0.07 (4)	fixed 255.07 (4)	254.76 ± 0.09 (4)			◆ +0.16
cy px	256.65 ± 0.03 (4)	fixed 257.36 (4)	256.82 ± 0.03 (4)			◆ +0.18
dist k1	0.00367 ± 0.00076 (4)	fixed 0.00659 (4)	0.00259 ± 0.00230 (4)			−0.00108
dist k2	−0.00145 ± 0.00112 (4)	fixed −0.00617 (4)	−0.00049 ± 0.00488 (4)			+0.00096
dist k3	−0.00016 ± 0.00050 (4)	fixed 0.00315 (4)	−0.00056 ± 0.00394 (4)			−0.00040
dist k4	−0.00012 ± 0.00012 (4)	fixed −0.00106 (4)	−0.00014 ± 0.00102 (4)			−0.00002
time offset td to base IMU^‡ ms	0.182 ± 0.015 (4)	−0.723 ± 0.165 (4)	−0.644 ± 0.124 (4)	◆ +0.905	+0.079	◆ −0.827
distance to base IMU ‖p‖ mm	94.55 ± 0.18 (4)	95.60 ± 0.21 (4)	94.36 ± 0.20 (4)	◆ −1.05	◆ −1.24	−0.19
reproj median px	0.077 ± 0.002 (4)	0.081 ± 0.003 (4)	not reported	fit

cam1 – TUM-VI cam1 · 12 rows · ◆ 9

Parameter	MVISKalibr IMU model	Kalibr	Basalt	MVIS− Kalibr	Basalt− Kalibr	Basalt− MVIS
fx px	190.86 ± 0.14 (4)	fixed 190.50 (4)	191.12 ± 0.14 (4)			◆ +0.26
fy px	190.84 ± 0.16 (4)	fixed 190.48 (4)	191.11 ± 0.13 (4)			◆ +0.27
cx px	252.28 ± 0.06 (4)	fixed 252.85 (4)	252.44 ± 0.09 (4)			◆ +0.16
cy px	254.70 ± 0.07 (4)	fixed 255.10 (4)	254.84 ± 0.08 (4)			◆ +0.14
dist k1	0.00585 ± 0.00105 (4)	fixed 0.00791 (4)	0.00330 ± 0.00171 (4)			◆ −0.00255
dist k2	−0.00389 ± 0.00197 (4)	fixed −0.00655 (4)	0.00035 ± 0.00424 (4)			◆ +0.00424
dist k3	0.00149 ± 0.00156 (4)	fixed 0.00304 (4)	−0.00149 ± 0.00415 (4)			−0.00298
dist k4	−0.00061 ± 0.00042 (4)	fixed −0.00097 (4)	0.00017 ± 0.00129 (4)			+0.00078
baseline to TUM-VI cam0 mm	101.185 ± 0.024 (4)	fixed 101.120 ± 0.038 (4)	101.122 ± 0.054 (4)			◆ −0.063
time offset td to base IMU^‡ ms	0.182 ± 0.010 (4)	−0.730 ± 0.165 (4)	−0.644 ± 0.124 (4)	◆ +0.912	+0.086	◆ −0.827
distance to base IMU ‖p‖ mm	99.31 ± 0.31 (4)	99.66 ± 0.26 (4)	98.79 ± 0.25 (4)	◆ −0.36	◆ −0.88	◆ −0.52
reproj median px	0.078 ± 0.002 (4)	0.080 ± 0.003 (4)	not reported	fit

base IMU – BMI160 imu0 · 19 rows · ◆ 6

Parameter	MVISKalibr IMU model	Kalibr	Basalt	MVIS− Kalibr	Basalt− Kalibr	Basalt− MVIS
gyro Dw[0,0] scale x	1.00173 ± 0.00018 (4)	1.00244 ± 0.00035 (4)	1.00175 ± 0.00027 (4)	◆ −0.00071	◆ −0.00069	+0.00002
gyro Dw[1,1] scale y	0.99997 ± 0.00015 (4)	1.00015 ± 0.00016 (4)	1.00000 ± 0.00014 (4)	◆ −0.00018	−0.00015	+0.00003
gyro Dw[2,2] scale z	1.00117 ± 0.00015 (4)	1.00192 ± 0.00033 (4)	1.00087 ± 0.00029 (4)	◆ −0.00075	◆ −0.00105	◆ −0.00030
gyro Dw[1,0] cross	−0.00044 ± 0.00012 (4)	−0.00115 ± 0.00051 (4)	−0.00054 ± 0.00049 (4)	◆ +0.00072	◆ +0.00062	−0.00010
gyro Dw[2,0] cross	0.00092 ± 0.00013 (4)	0.00079 ± 0.00081 (4)	0.00088 ± 0.00015 (4)	+0.00014	+0.00010	−0.00004
gyro Dw[2,1] cross	0.00086 ± 0.00011 (4)	−0.00061 ± 0.00035 (4)	0.00042 ± 0.00056 (4)	◆ +0.00147	◆ +0.00103	−0.00044
accel Da[0,0] scale x	1.00328 ± 0.00004 (4)	1.00296 ± 0.00017 (4)	1.00293 ± 0.00007 (4)	◆ +0.00032	−0.00003	◆ −0.00035
accel Da[1,1] scale y	1.00527 ± 0.00028 (4)	1.00515 ± 0.00046 (4)	1.00527 ± 0.00030 (4)	+0.00012	+0.00012	0.00000
accel Da[2,2] scale z	1.00203 ± 0.00047 (4)	1.00194 ± 0.00047 (4)	1.00148 ± 0.00099 (4)	+0.00009	−0.00046	−0.00055
Tg[0,0] g-sensitivity mrad·s/m	0.015 ± 0.011 (4)	0.020 ± 0.045 (4)	not in model	≠ model
Tg[0,1] g-sensitivity mrad·s/m	0.001 ± 0.009 (4)	0.964 ± 0.274 (4)	not in model	≠ model
Tg[0,2] g-sensitivity mrad·s/m	0.006 ± 0.014 (4)	0.108 ± 0.102 (4)	not in model	≠ model
Tg[1,0] g-sensitivity mrad·s/m	−0.015 ± 0.016 (4)	−0.522 ± 0.343 (4)	not in model	≠ model
Tg[1,1] g-sensitivity mrad·s/m	−0.015 ± 0.022 (4)	−0.032 ± 0.093 (4)	not in model	≠ model
Tg[1,2] g-sensitivity mrad·s/m	0.010 ± 0.013 (4)	−0.009 ± 0.103 (4)	not in model	≠ model
Tg[2,0] g-sensitivity mrad·s/m	0.005 ± 0.056 (4)	−0.096 ± 0.020 (4)	not in model	≠ model
Tg[2,1] g-sensitivity mrad·s/m	−0.027 ± 0.033 (4)	−0.076 ± 0.098 (4)	not in model	≠ model
Tg[2,2] g-sensitivity mrad·s/m	0.009 ± 0.025 (4)	0.002 ± 0.035 (4)	not in model	≠ model
t_ga gyro−accel ms	−1.641 ± 0.057 (4)	not in model	not in model

MVIS default IMU model (calyx) · 23 of 42 rows, model-independent only · ◆ 4

Parameter	MVISKalibr IMU model	MVIS default	Kalibr	default− Kalibr	default− Kalibr IMU model
cam0 – TUM-VI cam0
fx px	191.51 ± 0.08 (4)	191.51 ± 0.08 (4)	fixed 191.03 (4)		0.00
fy px	191.49 ± 0.10 (4)	191.49 ± 0.10 (4)	fixed 190.95 (4)		0.00
cx px	254.59 ± 0.07 (4)	254.59 ± 0.07 (4)	fixed 255.07 (4)		0.00
cy px	256.65 ± 0.03 (4)	256.65 ± 0.03 (4)	fixed 257.36 (4)		0.00
dist k1	0.00367 ± 0.00076 (4)	0.00367 ± 0.00076 (4)	fixed 0.00659 (4)		0.00000
dist k2	−0.00145 ± 0.00112 (4)	−0.00145 ± 0.00112 (4)	fixed −0.00617 (4)		0.00000
dist k3	−0.00016 ± 0.00050 (4)	−0.00016 ± 0.00050 (4)	fixed 0.00315 (4)		0.00000
dist k4	−0.00012 ± 0.00012 (4)	−0.00012 ± 0.00012 (4)	fixed −0.00106 (4)		0.00000
time offset td to base IMU^‡ ms	0.182 ± 0.015 (4)	0.184 ± 0.012 (4)	−0.723 ± 0.165 (4)	◆ +0.907	+0.002
distance to base IMU ‖p‖ mm	94.55 ± 0.18 (4)	94.55 ± 0.18 (4)	95.60 ± 0.21 (4)	◆ −1.05	0.00
reproj median px	0.077 ± 0.002 (4)	0.077 ± 0.002 (4)	0.081 ± 0.003 (4)	fit	fit
cam1 – TUM-VI cam1
fx px	190.86 ± 0.14 (4)	190.86 ± 0.14 (4)	fixed 190.50 (4)		0.00
fy px	190.84 ± 0.16 (4)	190.84 ± 0.16 (4)	fixed 190.48 (4)		0.00
cx px	252.28 ± 0.06 (4)	252.28 ± 0.06 (4)	fixed 252.85 (4)		0.00
cy px	254.70 ± 0.07 (4)	254.70 ± 0.07 (4)	fixed 255.10 (4)		0.00
dist k1	0.00585 ± 0.00105 (4)	0.00585 ± 0.00105 (4)	fixed 0.00791 (4)		0.00000
dist k2	−0.00389 ± 0.00197 (4)	−0.00389 ± 0.00197 (4)	fixed −0.00655 (4)		0.00000
dist k3	0.00149 ± 0.00156 (4)	0.00149 ± 0.00156 (4)	fixed 0.00304 (4)		0.00000
dist k4	−0.00061 ± 0.00042 (4)	−0.00061 ± 0.00042 (4)	fixed −0.00097 (4)		0.00000
baseline to TUM-VI cam0 mm	101.185 ± 0.024 (4)	101.185 ± 0.024 (4)	fixed 101.120 ± 0.038 (4)		0.000
time offset td to base IMU^‡ ms	0.182 ± 0.010 (4)	0.184 ± 0.008 (4)	−0.730 ± 0.165 (4)	◆ +0.914	+0.002
distance to base IMU ‖p‖ mm	99.31 ± 0.31 (4)	99.31 ± 0.31 (4)	99.66 ± 0.26 (4)	◆ −0.36	0.00
reproj median px	0.078 ± 0.002 (4)	0.078 ± 0.002 (4)	0.080 ± 0.003 (4)	fit	fit