Skip to content
Open MVIS

VI-Rig: 4 IMUs + 3 cameras

The VI-Rig: a Blackfly camera, a RealSense T265 and four IMUs on one plate
Photo: Open MVIS

Our rig: a FLIR Blackfly and a RealSense T265 fisheye pair, all global shutter, with four IMUs from 100 to 500 Hz.

our data 3 global-shutter cameras4 IMUs, 100–500 Hz CC BY-NC 4.0

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

Downloads → Dataset pageThe data → Hugging Face

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”
VI-Rig 3 cams: which tool repeats more tightly, per family and group of parameters
Family Focal + pp pxDistortionDistance mmTime offset msCam–IMU distance mmGyroAccel
T6c · camera n = 10 matched 3 GS cameras — camera calibration MVIS = Basalt> Kalibr ×4.6 ab MVIS = Basalt> Kalibr ×9.9 cab Kalibr only ————
T6 · cam+IMU n = 10 matched 3 GS cameras + 4 IMUs input, not compared input, not compared input, not compared Tie de MVIS ×3.4 d MVIS ×2.5K-IMU df MVIS ×2.7K-IMU df
T6c · camera · 3 GS cameras — camera calibration More repeatable or tie: Focal + pp MVIS = Basalt > Kalibr · Distortion MVIS = Basalt > Kalibr n = 10 matched · MVIS 10 of 10 · Kalibr 10 of 10 · Basalt 10 of 10
T6 · cam+IMU · 3 GS cameras + 4 IMUs More repeatable or tie: Time offset tie · Cam–IMU distance MVIS · Gyro MVIS K-IMU · Accel MVIS K-IMU n = 10 matched · MVIS 10 of 10 · Kalibr 10 of 10 · Basalt not run

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-IMU MVIS run with Kalibr's IMU model

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 Basalt's fisheye-2 frames are snapped onto fisheye-1 (1.8–5 ms apart).
  2. b The tool pairs here use different parameters, because one tool is not compared on every camera; the cell lists which.
  3. c Coefficients trade off against each other, so their scatter can overstate differences in the lens mapping.
  4. d Data settings still differ between the tools on this family.
  5. e MVIS also fits a gyro–accel delay (t_ga) that Kalibr and Basalt do not, so its td is not quite the same quantity.
  6. f 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
  • T6 reprojection error (3 rows): fit quality, not repeatability and not accuracy
  • T6 IMU g-sensitivity Tg (36 rows): Kalibr absorbs it in its IMU model
  • T6 gyro–accel delay t_ga (4 rows): MVIS only
  • T6 Basalt: not run: one IMU per run; no run holds the whole rig
Focal length + principal point · T6c · 10 matched recordings (MVIS 10 of 10 · Kalibr 10 of 10 · Basalt 10 of 10) · 3 GS cameras — camera calibration, camera

The spreads of MVIS and Basalt differ by 1.00×, but a gap this size appears often by chance with 10 recordings (p = 0.99). Treated as a tie. Both scatter less than Kalibr: across the same 10 recordings Kalibr's estimates scatter about 4.6× more than MVIS's and 5.1× more than Basalt's. Holds with any one recording left out.

MVIS here: the camera values of the T6 camera+IMU solve.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 12 param. 0.220.13 – 0.39 0.0059 (raw 0.002) MVIS tighter holds with any one recording left out
MVIS ÷ Basalt · 8 param. 10.83 – 1.74 0.99 tie: gap within chance
Kalibr ÷ Basalt · 8 param. 5.072.89 – 14.33 0.0059 (raw 0.002) Basalt tighter holds with any one recording left out
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.22, 95 % interval 0.13–0.39 · MVIS tighterMVIS ÷ KalibrMVIS ÷ Basalt: R = 1, 95 % interval 0.83–1.74 · tieMVIS ÷ BasaltKalibr ÷ Basalt: R = 5.07, 95 % interval 2.89–14.33 · Basalt tighterKalibr ÷ 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
Blackfly · fx px 0.983 2.17 –
Blackfly · fy px 1.12 2.5 –
Blackfly · cx px 0.551 3.28 –
Blackfly · cy px 0.661 1.44 –
t265 fisheye 1 · fx px 0.392 1.61 0.403
t265 fisheye 1 · fy px 0.316 1.69 0.332
t265 fisheye 1 · cx px 0.205 0.553 0.204
t265 fisheye 1 · cy px 0.207 1.09 0.175
t265 fisheye 2 · fx px 0.395 1.99 0.395
t265 fisheye 2 · fy px 0.317 2.08 0.333
t265 fisheye 2 · cx px 0.217 0.589 0.204
t265 fisheye 2 · cy px 0.164 1.01 0.135
Not in this comparison
  • Basalt · shown only · 4 rows: other camera model (pinhole-radtan8)
  • a Basalt's fisheye-2 frames are snapped onto fisheye-1 (1.8–5 ms apart).
  • b The tool pairs here use different parameters, because one tool is not compared on every camera; the cell lists which.

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

Distortion coefficients · T6c · 10 matched recordings (MVIS 10 of 10 · Kalibr 10 of 10 · Basalt 10 of 10) · 3 GS cameras — camera calibration, camera

The spreads of MVIS and Basalt differ by 1.5×, but a gap this size appears often by chance with 10 recordings (p = 0.055). Treated as a tie. Both scatter less than Kalibr: across the same 10 recordings Kalibr's estimates scatter about 9.9× more than MVIS's and 19× more than Basalt's. Holds with any one recording left out.

MVIS here: the camera values of the T6 camera+IMU solve.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 12 param. 0.10.05 – 0.32 0.0059 (raw 0.002) MVIS tighter holds with any one recording left out
MVIS ÷ Basalt · 8 param. 1.471 – 2.74 0.055 tie: gap within chance
Kalibr ÷ Basalt · 8 param. 19.494.54 – 66.05 0.0059 (raw 0.002) Basalt tighter holds with any one recording left out
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.1, 95 % interval 0.05–0.32 · MVIS tighterMVIS ÷ KalibrMVIS ÷ Basalt: R = 1.47, 95 % interval 1–2.74 · tieMVIS ÷ BasaltKalibr ÷ Basalt: R = 19.49, 95 % interval 4.54–66.05 · Basalt tighterKalibr ÷ 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
Blackfly · dist k1 0.00256 0.00996 –
Blackfly · dist k2 0.00261 0.00889 –
Blackfly · dist p1 0.000167 0.000385 –
Blackfly · dist p2 0.000185 0.000954 –
t265 fisheye 1 · dist k1 0.00155 0.0188 0.00115
t265 fisheye 1 · dist k2 0.0037 0.042 0.00248
t265 fisheye 1 · dist k3 0.00435 0.0373 0.00239
t265 fisheye 1 · dist k4 0.0017 0.011 0.000761
t265 fisheye 2 · dist k1 0.0013 0.0324 0.00104
t265 fisheye 2 · dist k2 0.00336 0.0785 0.00276
t265 fisheye 2 · dist k3 0.00419 0.073 0.00289
t265 fisheye 2 · dist k4 0.00171 0.0224 0.001
Not in this comparison
  • Basalt · shown only · 4 rows: other camera model (pinhole-radtan8)
  • c Coefficients trade off against each other, so their scatter can overstate differences in the lens mapping.
  • a Basalt's fisheye-2 frames are snapped onto fisheye-1 (1.8–5 ms apart).
  • b The tool pairs here use different parameters, because one tool is not compared on every camera; the cell lists which.

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

Camera–camera distance · T6c · Kalibr only (MVIS no value · Kalibr 10 of 10 · Basalt no value) · 3 GS cameras — camera calibration, camera

Kalibr only: no value for this tool

Not in this comparison
  • MVIS · missing · 2 rows: no value for this tool
  • Basalt · missing · 2 rows: not in one run

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

Focal length + principal point · T6 · Input, not compared (MVIS 10 of 10 · Kalibr input · Basalt not run) · 3 GS cameras + 4 IMUs, cam+IMU

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.

Not in this comparison
  • Kalibr · input, not compared · 12 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.
  • Basalt · 12 rows: not run: one IMU per run; no run holds the whole rig

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

Distortion coefficients · T6 · Input, not compared (MVIS 10 of 10 · Kalibr input · Basalt not run) · 3 GS cameras + 4 IMUs, cam+IMU

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.

Not in this comparison
  • Kalibr · input, not compared · 12 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.
  • Basalt · 12 rows: not run: one IMU per run; no run holds the whole rig

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

Camera–camera distance · T6 · Input, not compared (MVIS 10 of 10 · Kalibr input · Basalt not run) · 3 GS cameras + 4 IMUs, cam+IMU

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.

Not in this comparison
  • Kalibr · input, not compared · 2 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.
  • Basalt · 2 rows: not run: one IMU per run; no run holds the whole rig

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

Camera–IMU time offset · T6 · 10 matched recordings (MVIS 10 of 10 · Kalibr 10 of 10 · Basalt not run) · 3 GS cameras + 4 IMUs, cam+IMU

The spreads of MVIS and Kalibr differ by 1.03×, but a gap this size appears often by chance with 10 recordings (p = 0.73). Treated as a tie.

MVIS here: its default IMU model.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 6 param. 1.030.82 – 1.33 0.73 tie: gap within chance
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 1.03, 95 % interval 0.82–1.33 · tieMVIS ÷ Kalibr
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 sdRatio
Blackfly · time offset td to base IMU ms 0.0964 0.149 0.65
t265 fisheye 1 · time offset td to base IMU ms 0.155 0.247 0.63
t265 fisheye 2 · time offset td to base IMU ms 0.237 0.244 0.97
GX3-25 · time delay td to base IMU ms 0.208 0.189 1.10
GX3-35 · time delay td to base IMU ms 0.209 0.17 1.23
t265 IMU · time delay td to base IMU ms 0.212 0.188 1.13
Not in this comparison
  • Basalt · 6 rows: not run: one IMU per run; no run holds the whole rig
  • d Data settings still differ between the tools on this family.
  • e 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 · T6 · 10 matched recordings (MVIS 10 of 10 · Kalibr 10 of 10 · Basalt not run) · 3 GS cameras + 4 IMUs, cam+IMU

Across the same 10 recordings, Kalibr's estimates scatter about 3.4× more than MVIS's (median over 6 parameters). A gap this large appeared in 0.59 % of recording-by-recording swaps. Holds with any one recording left out.

MVIS here: its default IMU model.

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 6 param. 0.290.16 – 0.51 0.0059 MVIS tighter holds with any one recording left out
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.29, 95 % interval 0.16–0.51 · MVIS tighterMVIS ÷ Kalibr
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 sdRatio
Blackfly · distance to base IMU ‖p‖ mm 1.41 3.64 0.39
t265 fisheye 1 · distance to base IMU ‖p‖ mm 1.48 3.19 0.46
t265 fisheye 2 · distance to base IMU ‖p‖ mm 1.7 3.99 0.43
GX3-25 · distance to base IMU ‖p‖ mm 0.198 0.883 0.22
GX3-35 · distance to base IMU ‖p‖ mm 0.189 0.862 0.22
t265 IMU · distance to base IMU ‖p‖ mm 0.194 1.42 0.14
Not in this comparison
  • Basalt · 6 rows: not run: one IMU per run; no run holds the whole rig
  • d Data settings still differ between the tools on this family.

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

Gyro scale + cross-axis · T6 · 10 matched recordings (MVIS 10 of 10 · Kalibr 10 of 10 · Basalt not run) · 3 GS cameras + 4 IMUs, cam+IMU

Across the same 10 recordings, Kalibr's estimates scatter about 2.5× more than MVIS's (median over 24 parameters). A gap this large appeared in 0.59 % of recording-by-recording swaps. Holds with any one recording left out.

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

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 24 param. 0.40.25 – 0.6 0.0059 MVIS tighter holds with any one recording left out
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.4, 95 % interval 0.25–0.6 · MVIS tighterMVIS ÷ Kalibr
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 sdRatio
Xsens MTi · gyro Dw[0,0] scale x 0.00149 0.00344 0.43
Xsens MTi · gyro Dw[1,1] scale y 0.00051 0.00182 0.28
Xsens MTi · gyro Dw[2,2] scale z 0.00201 0.00248 0.81
Xsens MTi · gyro Dw[1,0] cross 0.000808 0.00266 0.30
Xsens MTi · gyro Dw[2,0] cross 0.00143 0.00393 0.36
Xsens MTi · gyro Dw[2,1] cross 0.00144 0.00345 0.42
GX3-25 · gyro Dw[0,0] scale x 0.000544 0.00193 0.28
GX3-25 · gyro Dw[1,1] scale y 0.00161 0.0039 0.41
GX3-25 · gyro Dw[2,2] scale z 0.00235 0.00197 1.19
GX3-25 · gyro Dw[1,0] cross 0.000649 0.00239 0.27
GX3-25 · gyro Dw[2,0] cross 0.00149 0.00333 0.45
GX3-25 · gyro Dw[2,1] cross 0.0016 0.00438 0.37
GX3-35 · gyro Dw[0,0] scale x 0.000392 0.00172 0.23
GX3-35 · gyro Dw[1,1] scale y 0.0016 0.00388 0.41
GX3-35 · gyro Dw[2,2] scale z 0.00228 0.00211 1.08
GX3-35 · gyro Dw[1,0] cross 0.000785 0.00242 0.32
GX3-35 · gyro Dw[2,0] cross 0.00131 0.0032 0.41
GX3-35 · gyro Dw[2,1] cross 0.00175 0.00448 0.39
t265 IMU · gyro Dw[0,0] scale x 0.00139 0.00344 0.40
t265 IMU · gyro Dw[1,1] scale y 0.00203 0.00276 0.74
t265 IMU · gyro Dw[2,2] scale z 0.000568 0.00208 0.27
t265 IMU · gyro Dw[1,0] cross 0.00163 0.00408 0.40
t265 IMU · gyro Dw[2,0] cross 0.000649 0.00264 0.25
t265 IMU · gyro Dw[2,1] cross 0.00141 0.00351 0.40
Not in this comparison
  • Basalt · 24 rows: not run: one IMU per run; no run holds the whole rig
  • d Data settings still differ between the tools on this family.
  • f 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 · T6 · 10 matched recordings (MVIS 10 of 10 · Kalibr 10 of 10 · Basalt not run) · 3 GS cameras + 4 IMUs, cam+IMU

Across the same 10 recordings, Kalibr's estimates scatter about 2.7× more than MVIS's (median over 12 parameters). A gap this large appeared in 0.2 % of recording-by-recording swaps. Holds with any one recording left out.

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

PairR95 % intervalp (Holm)DecisionLeave one out
MVIS ÷ Kalibr · 12 param. 0.370.27 – 0.58 0.002 MVIS tighter holds with any one recording left out
0.10.250.512410← first tool scatters lesssecond tool scatters less →MVIS ÷ Kalibr: R = 0.37, 95 % interval 0.27–0.58 · MVIS tighterMVIS ÷ Kalibr
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 sdRatio
Xsens MTi · accel Da[0,0] scale x 0.000437 0.000925 0.47
Xsens MTi · accel Da[1,1] scale y 0.00163 0.00332 0.49
Xsens MTi · accel Da[2,2] scale z 0.00132 0.00292 0.45
GX3-25 · accel Da[0,0] scale x 0.00179 0.00627 0.29
GX3-25 · accel Da[1,1] scale y 0.000409 0.00167 0.24
GX3-25 · accel Da[2,2] scale z 0.00137 0.00239 0.57
GX3-35 · accel Da[0,0] scale x 0.00173 0.0053 0.33
GX3-35 · accel Da[1,1] scale y 0.000384 0.00149 0.26
GX3-35 · accel Da[2,2] scale z 0.00133 0.00315 0.42
t265 IMU · accel Da[0,0] scale x 0.000525 0.00611 0.09
t265 IMU · accel Da[1,1] scale y 0.0016 0.00544 0.29
t265 IMU · accel Da[2,2] scale z 0.002 0.00206 0.97
Not in this comparison
  • Basalt · 12 rows: not run: one IMU per run; no run holds the whole rig
  • d Data settings still differ between the tools on this family.
  • f 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.

T6 · camera + IMU

Section titled “T6 · camera + IMU”

3 GS cameras + 4 IMUs · 10 recordings

Read first: Kalibr's intrinsics and baselines are inputs from its own camera-only calibration; its td and lever are solved given them. Data settings differ: see Notes.

Repeatability Focal + ppDistortionDistanceTime offsetCam–IMU distanceGyroAccel

Coverage

Section titled “Coverage”
  • MVIS 10 of 10
  • Kalibr 10 of 10
  • Basalt 0 of 10 not run: one IMU per run; no run holds the whole rig

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 T6.json · Kalibr T6.json · Basalt T6.json

Fit: reprojection median, px (fit of each tool's own model, not accuracy)
Camera MVIS MVIS (K-IMU) Kalibr
Blackfly0.3490.3490.483
t265 fisheye 10.2250.2250.272
t265 fisheye 20.2390.2390.288

Where the tools differ

Section titled “Where the tools differ”
MVIS (K-IMU) − Kalibr ◆ 21 of 48 compared rows
  • Blackfly · time offset td to base IMU +1.145 ms ◆
  • Blackfly · distance to base IMU ‖p‖ −2.09 mm
  • t265 fisheye 1 · time offset td to base IMU +0.977 ms ◆
  • t265 fisheye 1 · distance to base IMU ‖p‖ −3.83 mm ◆
  • t265 fisheye 2 · time offset td to base IMU +0.980 ms ◆
  • t265 fisheye 2 · distance to base IMU ‖p‖ −2.63 mm
  • Xsens MTi · gyro Dw[0,0] scale x −0.00135
  • Xsens MTi · gyro Dw[1,1] scale y +0.00099
  • Xsens MTi · gyro Dw[2,2] scale z −0.00406 ◆
  • Xsens MTi · gyro Dw[1,0] cross −0.00382 ◆
  • Xsens MTi · gyro Dw[2,0] cross −0.00353
  • Xsens MTi · gyro Dw[2,1] cross −0.01034 ◆
  • Xsens MTi · accel Da[0,0] scale x −0.00017
  • Xsens MTi · accel Da[1,1] scale y +0.00132
  • Xsens MTi · accel Da[2,2] scale z −0.00433 ◆
  • GX3-25 · gyro Dw[0,0] scale x +0.00140
  • GX3-25 · gyro Dw[1,1] scale y −0.00078
  • GX3-25 · gyro Dw[2,2] scale z −0.00712 ◆
  • GX3-25 · gyro Dw[1,0] cross −0.00155
  • GX3-25 · gyro Dw[2,0] cross +0.00929 ◆
  • GX3-25 · gyro Dw[2,1] cross +0.00293
  • GX3-25 · accel Da[0,0] scale x +0.00134
  • GX3-25 · accel Da[1,1] scale y −0.00267 ◆
  • GX3-25 · accel Da[2,2] scale z −0.00116
  • GX3-25 · time delay td to base IMU +0.101 ms
  • GX3-25 · distance to base IMU ‖p‖ +2.05 mm ◆
  • GX3-35 · gyro Dw[0,0] scale x +0.00070
  • GX3-35 · gyro Dw[1,1] scale y −0.00264
  • GX3-35 · gyro Dw[2,2] scale z −0.00710 ◆
  • GX3-35 · gyro Dw[1,0] cross −0.00250 ◆
  • GX3-35 · gyro Dw[2,0] cross +0.00923 ◆
  • GX3-35 · gyro Dw[2,1] cross +0.00381
  • GX3-35 · accel Da[0,0] scale x +0.00130
  • GX3-35 · accel Da[1,1] scale y −0.00232 ◆
  • GX3-35 · accel Da[2,2] scale z −0.00614 ◆
  • GX3-35 · time delay td to base IMU +0.068 ms
  • GX3-35 · distance to base IMU ‖p‖ +1.12 mm ◆
  • t265 IMU · gyro Dw[0,0] scale x −0.00172
  • t265 IMU · gyro Dw[1,1] scale y −0.00439 ◆
  • t265 IMU · gyro Dw[2,2] scale z +0.00146
  • t265 IMU · gyro Dw[1,0] cross −0.00376
  • t265 IMU · gyro Dw[2,0] cross +0.00216
  • t265 IMU · gyro Dw[2,1] cross +0.01034 ◆
  • t265 IMU · accel Da[0,0] scale x +0.00386
  • t265 IMU · accel Da[1,1] scale y +0.00452
  • t265 IMU · accel Da[2,2] scale z +0.00388 ◆
  • t265 IMU · time delay td to base IMU +0.077 ms
  • t265 IMU · distance to base IMU ‖p‖ +0.74 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”
7 sensors, 78 parameter charts (open to see each tool's spread)

fx px axis 448 ± 4.56

MVIS 448.30 ± 0.61 (10)
MVIS (K-IMU) 448.30 ± 0.61 (10)
Kalibr 446.75 ± 2.2 (10) input

fy px axis 448 ± 5.91

MVIS 447.63 ± 0.58 (10)
MVIS (K-IMU) 447.62 ± 0.58 (10)
Kalibr 444.89 ± 2.5 (10) input

cx px axis 371 ± 12.9

MVIS 370.78 ± 0.72 (10)
MVIS (K-IMU) 370.78 ± 0.71 (10)
Kalibr 368.67 ± 3.3 (10) input

cy px axis 281 ± 5.41

MVIS 281.31 ± 0.69 (10)
MVIS (K-IMU) 281.31 ± 0.69 (10)
Kalibr 278.41 ± 1.4 (10) input

dist k1 axis −0.312 ± 0.0285

MVIS −0.31177 ± 0.0031 (10)
MVIS (K-IMU) −0.31178 ± 0.0031 (10)
Kalibr −0.30796 ± 0.01 (10) input

dist k2 axis 0.0809 ± 0.0216

MVIS 0.08088 ± 0.0027 (10)
MVIS (K-IMU) 0.08088 ± 0.0027 (10)
Kalibr 0.07731 ± 0.0089 (10) input

dist p1 axis −0.000333 ± 0.000911

MVIS −0.00033 ± 0.0001 (10)
MVIS (K-IMU) −0.00033 ± 0.0001 (10)
Kalibr 0.00011 ± 0.00038 (10) input

dist p2 axis −0.000119 ± 0.00177

MVIS −0.00012 ± 0.00013 (10)
MVIS (K-IMU) −0.00012 ± 0.00013 (10)
Kalibr 0.00014 ± 0.00095 (10) input

time offset td to base IMU ms axis −4.29 ± 1.48

MVIS −4.279 ± 0.096 (10)
MVIS (K-IMU) −4.293 ± 0.093 (10)
Kalibr −5.438 ± 0.15 (10)

distance to base IMU ‖p‖ mm axis 89.4 ± 6.96

MVIS 89.35 ± 1.4 (10)
MVIS (K-IMU) 89.32 ± 1.4 (10)
Kalibr 91.41 ± 3.6 (10)

fx px axis 287 ± 4.39

MVIS 287.09 ± 0.36 (10)
MVIS (K-IMU) 287.08 ± 0.36 (10)
Kalibr 285.72 ± 1.6 (10) input

fy px axis 287 ± 4.97

MVIS 286.70 ± 0.34 (10)
MVIS (K-IMU) 286.70 ± 0.34 (10)
Kalibr 285.13 ± 1.7 (10) input

cx px axis 415 ± 2.05

MVIS 415.33 ± 0.27 (10)
MVIS (K-IMU) 415.32 ± 0.27 (10)
Kalibr 415.83 ± 0.55 (10) input

cy px axis 404 ± 3.25

MVIS 403.53 ± 0.26 (10)
MVIS (K-IMU) 403.53 ± 0.25 (10)
Kalibr 404.09 ± 1.1 (10) input

dist k1 axis −0.0034 ± 0.0387

MVIS −0.00340 ± 0.0028 (10)
MVIS (K-IMU) −0.00341 ± 0.0029 (10)
Kalibr 0.00165 ± 0.019 (10) input

dist k2 axis 0.032 ± 0.0824

MVIS 0.03209 ± 0.0059 (10)
MVIS (K-IMU) 0.03197 ± 0.0059 (10)
Kalibr 0.02307 ± 0.042 (10) input

dist k3 axis −0.0305 ± 0.0731

MVIS −0.03059 ± 0.0059 (10)
MVIS (K-IMU) −0.03046 ± 0.006 (10)
Kalibr −0.02549 ± 0.037 (10) input

dist k4 axis 0.00456 ± 0.0218

MVIS 0.00457 ± 0.0021 (10)
MVIS (K-IMU) 0.00456 ± 0.0021 (10)
Kalibr 0.00321 ± 0.011 (10) input

baseline to Blackfly mm axis 71.3 ± 3.4

MVIS 71.268 ± 0.14 (10)
MVIS (K-IMU) 71.267 ± 0.14 (10)
Kalibr 71.856 ± 1.5 (10) input

time offset td to base IMU ms axis −5.02 ± 1.45

MVIS −5.014 ± 0.16 (10)
MVIS (K-IMU) −5.022 ± 0.15 (10)
Kalibr −5.999 ± 0.25 (10)

distance to base IMU ‖p‖ mm axis 130 ± 9.13

MVIS 130.13 ± 1.5 (10)
MVIS (K-IMU) 130.10 ± 1.5 (10)
Kalibr 133.92 ± 3.2 (10)

fx px axis 287 ± 4.4

MVIS 287.02 ± 0.33 (10)
MVIS (K-IMU) 287.02 ± 0.33 (10)
Kalibr 285.37 ± 2 (10) input

fy px axis 286 ± 4.94

MVIS 286.41 ± 0.32 (10)
MVIS (K-IMU) 286.40 ± 0.32 (10)
Kalibr 284.57 ± 2.1 (10) input

cx px axis 415 ± 2.26

MVIS 414.57 ± 0.32 (10)
MVIS (K-IMU) 414.56 ± 0.32 (10)
Kalibr 415.44 ± 0.59 (10) input

cy px axis 398 ± 3.15

MVIS 397.96 ± 0.28 (10)
MVIS (K-IMU) 397.96 ± 0.28 (10)
Kalibr 398.62 ± 1 (10) input

dist k1 axis −0.00397 ± 0.0915

MVIS −0.00397 ± 0.0026 (10)
MVIS (K-IMU) −0.00397 ± 0.0026 (10)
Kalibr 0.00218 ± 0.032 (10) input

dist k2 axis 0.0344 ± 0.231

MVIS 0.03443 ± 0.0061 (10)
MVIS (K-IMU) 0.03443 ± 0.0061 (10)
Kalibr 0.02374 ± 0.078 (10) input

dist k3 axis −0.0314 ± 0.215

MVIS −0.03146 ± 0.0067 (10)
MVIS (K-IMU) −0.03139 ± 0.0067 (10)
Kalibr −0.02631 ± 0.073 (10) input

dist k4 axis 0.0043 ± 0.0656

MVIS 0.00431 ± 0.0026 (10)
MVIS (K-IMU) 0.00430 ± 0.0026 (10)
Kalibr 0.00280 ± 0.022 (10) input

baseline to Blackfly mm axis 69.8 ± 8.23

MVIS 69.849 ± 0.33 (10)
MVIS (K-IMU) 69.849 ± 0.33 (10)
Kalibr 71.630 ± 2.5 (10) input

time offset td to base IMU ms axis −7.8 ± 1.58

MVIS −7.791 ± 0.24 (10)
MVIS (K-IMU) −7.798 ± 0.24 (10)
Kalibr −8.778 ± 0.24 (10)

distance to base IMU ‖p‖ mm axis 111 ± 8.97

MVIS 111.45 ± 1.7 (10)
MVIS (K-IMU) 111.39 ± 1.7 (10)
Kalibr 114.03 ± 4 (10)

gyro Dw[0,0] scale x axis 0.999 ± 0.0115 · line at 1

MVIS no value
MVIS (K-IMU) 0.99863 ± 0.0015 (10)
Kalibr 0.99998 ± 0.0034 (10)

gyro Dw[1,1] scale y axis 0.997 ± 0.00527 · line at 1

MVIS no value
MVIS (K-IMU) 0.99778 ± 0.00051 (10)
Kalibr 0.99679 ± 0.0018 (10)

gyro Dw[2,2] scale z axis 1 ± 0.00617 · line at 1

MVIS no value
MVIS (K-IMU) 1.00183 ± 0.002 (10)
Kalibr 1.00589 ± 0.0025 (10)

gyro Dw[1,0] cross axis 0.000438 ± 0.00645

MVIS no value
MVIS (K-IMU) −0.00147 ± 0.00081 (10)
Kalibr 0.00235 ± 0.0027 (10)

gyro Dw[2,0] cross axis 0.00506 ± 0.0102

MVIS no value
MVIS (K-IMU) 0.00329 ± 0.0014 (10)
Kalibr 0.00682 ± 0.0039 (10)

gyro Dw[2,1] cross axis 0.00696 ± 0.0126

MVIS no value
MVIS (K-IMU) 0.00179 ± 0.0014 (10)
Kalibr 0.01213 ± 0.0034 (10)

accel Da[0,0] scale x axis 1 ± 0.00209 · line at 1

MVIS no value
MVIS (K-IMU) 0.99988 ± 0.00044 (10)
Kalibr 1.00005 ± 0.00093 (10)

accel Da[1,1] scale y axis 0.996 ± 0.0059 · line at 1

MVIS no value
MVIS (K-IMU) 0.99681 ± 0.0016 (10)
Kalibr 0.99549 ± 0.0033 (10)

accel Da[2,2] scale z axis 1 ± 0.0069 · line at 1

MVIS no value
MVIS (K-IMU) 1.00043 ± 0.0013 (10)
Kalibr 1.00476 ± 0.0029 (10)

t_ga gyro−accel ms axis −0.307 ± 0.225

MVIS not in this tool's model
MVIS (K-IMU) −0.307 ± 0.11 (10)
Kalibr not in this tool's model

gyro Dw[0,0] scale x axis 0.999 ± 0.00529 · line at 1

MVIS no value
MVIS (K-IMU) 0.99989 ± 0.00054 (10)
Kalibr 0.99849 ± 0.0019 (10)

gyro Dw[1,1] scale y axis 1 ± 0.013 · line at 1

MVIS no value
MVIS (K-IMU) 1.00107 ± 0.0016 (10)
Kalibr 1.00185 ± 0.0039 (10)

gyro Dw[2,2] scale z axis 1.01 ± 0.00673 · line at 1

MVIS no value
MVIS (K-IMU) 1.00310 ± 0.0024 (10)
Kalibr 1.01022 ± 0.002 (10)

gyro Dw[1,0] cross axis −0.000326 ± 0.00409

MVIS no value
MVIS (K-IMU) −0.00110 ± 0.00065 (10)
Kalibr 0.00045 ± 0.0024 (10)

gyro Dw[2,0] cross axis −0.00705 ± 0.0118

MVIS no value
MVIS (K-IMU) −0.00240 ± 0.0015 (10)
Kalibr −0.01170 ± 0.0033 (10)

gyro Dw[2,1] cross axis 0.00024 ± 0.0116

MVIS no value
MVIS (K-IMU) 0.00170 ± 0.0016 (10)
Kalibr −0.00122 ± 0.0044 (10)

accel Da[0,0] scale x axis 0.997 ± 0.0171 · line at 1

MVIS no value
MVIS (K-IMU) 0.99729 ± 0.0018 (10)
Kalibr 0.99594 ± 0.0063 (10)

accel Da[1,1] scale y axis 1 ± 0.00466 · line at 1

MVIS no value
MVIS (K-IMU) 1.00073 ± 0.00041 (10)
Kalibr 1.00340 ± 0.0017 (10)

accel Da[2,2] scale z axis 1 ± 0.00531 · line at 1

MVIS no value
MVIS (K-IMU) 1.00040 ± 0.0014 (10)
Kalibr 1.00156 ± 0.0024 (10)

time delay td to base IMU ms axis −0.0322 ± 0.583 · line at 0

MVIS −0.022 ± 0.21 (10)
MVIS (K-IMU) −0.032 ± 0.21 (10)
Kalibr −0.133 ± 0.19 (10)

distance to base IMU ‖p‖ mm axis 131 ± 4.3

MVIS 131.31 ± 0.2 (10)
MVIS (K-IMU) 131.31 ± 0.2 (10)
Kalibr 129.26 ± 0.88 (10)

t_ga gyro−accel ms axis 0.147 ± 0.194 · line at 0

MVIS not in this tool's model
MVIS (K-IMU) 0.147 ± 0.068 (10)
Kalibr not in this tool's model

gyro Dw[0,0] scale x axis 0.999 ± 0.00456 · line at 1

MVIS no value
MVIS (K-IMU) 0.99888 ± 0.00039 (10)
Kalibr 0.99818 ± 0.0017 (10)

gyro Dw[1,1] scale y axis 1 ± 0.0138 · line at 1

MVIS no value
MVIS (K-IMU) 0.99978 ± 0.0016 (10)
Kalibr 1.00242 ± 0.0039 (10)

gyro Dw[2,2] scale z axis 1.01 ± 0.00698 · line at 1

MVIS no value
MVIS (K-IMU) 1.00149 ± 0.0023 (10)
Kalibr 1.00859 ± 0.0021 (10)

gyro Dw[1,0] cross axis −0.000355 ± 0.00512

MVIS no value
MVIS (K-IMU) −0.00161 ± 0.00078 (10)
Kalibr 0.00090 ± 0.0024 (10)

gyro Dw[2,0] cross axis −0.0064 ± 0.011

MVIS no value
MVIS (K-IMU) −0.00179 ± 0.0013 (10)
Kalibr −0.01102 ± 0.0032 (10)

gyro Dw[2,1] cross axis −0.00422 ± 0.0122

MVIS no value
MVIS (K-IMU) −0.00232 ± 0.0018 (10)
Kalibr −0.00612 ± 0.0045 (10)

accel Da[0,0] scale x axis 0.996 ± 0.0131 · line at 1

MVIS no value
MVIS (K-IMU) 0.99673 ± 0.0017 (10)
Kalibr 0.99543 ± 0.0053 (10)

accel Da[1,1] scale y axis 1 ± 0.0041 · line at 1

MVIS no value
MVIS (K-IMU) 1.00005 ± 0.00038 (10)
Kalibr 1.00237 ± 0.0015 (10)

accel Da[2,2] scale z axis 1 ± 0.0106 · line at 1

MVIS no value
MVIS (K-IMU) 1.00009 ± 0.0013 (10)
Kalibr 1.00623 ± 0.0031 (10)

time delay td to base IMU ms axis −1.61 ± 0.496

MVIS −1.602 ± 0.21 (10)
MVIS (K-IMU) −1.612 ± 0.21 (10)
Kalibr −1.680 ± 0.17 (10)

distance to base IMU ‖p‖ mm axis 94.7 ± 3.29

MVIS 94.70 ± 0.19 (10)
MVIS (K-IMU) 94.70 ± 0.19 (10)
Kalibr 93.58 ± 0.86 (10)

t_ga gyro−accel ms axis 0.0811 ± 0.196 · line at 0

MVIS not in this tool's model
MVIS (K-IMU) 0.081 ± 0.066 (10)
Kalibr not in this tool's model

gyro Dw[0,0] scale x axis 0.998 ± 0.0117 · line at 1

MVIS no value
MVIS (K-IMU) 0.99736 ± 0.0014 (10)
Kalibr 0.99908 ± 0.0034 (10)

gyro Dw[1,1] scale y axis 1.01 ± 0.0074 · line at 1

MVIS no value
MVIS (K-IMU) 1.00472 ± 0.002 (10)
Kalibr 1.00911 ± 0.0028 (10)

gyro Dw[2,2] scale z axis 1 ± 0.00626 · line at 1

MVIS no value
MVIS (K-IMU) 1.00288 ± 0.00057 (10)
Kalibr 1.00142 ± 0.0021 (10)

gyro Dw[1,0] cross axis 0.00429 ± 0.00885

MVIS no value
MVIS (K-IMU) 0.00242 ± 0.0016 (10)
Kalibr 0.00617 ± 0.0041 (10)

gyro Dw[2,0] cross axis 0.00188 ± 0.00607

MVIS no value
MVIS (K-IMU) 0.00296 ± 0.00065 (10)
Kalibr 0.00080 ± 0.0026 (10)

gyro Dw[2,1] cross axis −0.00687 ± 0.0107

MVIS no value
MVIS (K-IMU) −0.00170 ± 0.0014 (10)
Kalibr −0.01204 ± 0.0035 (10)

accel Da[0,0] scale x axis 1.02 ± 0.015

MVIS no value
MVIS (K-IMU) 1.01987 ± 0.00053 (10)
Kalibr 1.01601 ± 0.0061 (10)

accel Da[1,1] scale y axis 1.02 ± 0.0106

MVIS no value
MVIS (K-IMU) 1.01927 ± 0.0016 (10)
Kalibr 1.01475 ± 0.0054 (10)

accel Da[2,2] scale z axis 1.01 ± 0.00559

MVIS no value
MVIS (K-IMU) 1.01301 ± 0.002 (10)
Kalibr 1.00913 ± 0.0021 (10)

time delay td to base IMU ms axis 2.83 ± 0.552

MVIS 2.832 ± 0.21 (10)
MVIS (K-IMU) 2.830 ± 0.21 (10)
Kalibr 2.753 ± 0.19 (10)

distance to base IMU ‖p‖ mm axis 125 ± 3.09

MVIS 125.16 ± 0.19 (10)
MVIS (K-IMU) 125.15 ± 0.19 (10)
Kalibr 124.41 ± 1.4 (10)

t_ga gyro−accel ms axis −6.56 ± 0.121

MVIS not in this tool's model
MVIS (K-IMU) −6.564 ± 0.054 (10)
Kalibr 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”
6 notes on models, inputs and run settings
  • Kalibr: 26 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) · Xsens MTi
0.0160.0740.053−0.033−0.0040.0200.0120.058−0.100
Kalibr · Xsens MTi
0.5120.0422.7600.1840.0323.5820.101−1.1580.093
MVIS (K-IMU) · GX3-25
0.0410.038−0.0720.001−0.0260.038−0.0360.002−0.103
Kalibr · GX3-25
−1.083−0.1811.498−0.526−0.0331.217−0.2240.1311.146
MVIS (K-IMU) · GX3-35
0.006−0.026−0.061−0.024−0.0240.038−0.0420.009−0.012
Kalibr · GX3-35
−0.924−0.013−0.251−0.5560.182−0.1440.1400.1881.292
MVIS (K-IMU) · t265 IMU
0.0060.020−0.0180.000−0.030−0.0680.043−0.0310.026
Kalibr · t265 IMU
1.1835.0840.238−0.9080.0031.923−1.374−6.1910.110
  • Basalt not run: Basalt cannot calibrate T6 — one IMU per run (the rig has four) and frames grouped by exact stamp (the t265 pair and the Blackfly share none), so no single run holds the rig.
  • Like for like: MVIS uses two corners per tag, non-base cameras at 4 Hz or lower and an estimated board shape; Kalibr has none of these. Every tool uses the same IMU noise, measured at rest (the rig's noisiest IMU, one set for all four IMUs). Kalibr's runs date from 2026-11-08.
  • Note: Kalibr starts from its own camera-only calibration of each bag. Every tool uses the same IMU noise, measured at rest on the rig's noisiest IMU.

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

T6c · camera only

Section titled “T6c · camera only”

3 GS cameras — camera calibration · 10 recordings

Read first: MVIS runs the Blackfly and the t265 pair separately, so it has no baseline to the Blackfly; Kalibr solves the three cameras jointly.

Repeatability Focal + ppDistortionDistanceTime offsetCam–IMU distanceGyroAccel

Coverage

Section titled “Coverage”
  • MVIS 10 of 10
  • Kalibr 10 of 10
  • Basalt 10 of 10

Records behind these numbers: MVIS T6c.json · Kalibr T6c.json · Basalt T6c.json

Where the tools differ

Section titled “Where the tools differ”
MVIS − Kalibr ◆ 5 of 24 compared rows
  • Blackfly · fx +3.20 px ◆
  • Blackfly · fy +4.21 px ◆
  • Blackfly · cx +1.13 px
  • Blackfly · cy +1.50 px ◆
  • Blackfly · dist k1 −0.00609
  • Blackfly · dist k2 +0.00711
  • Blackfly · dist p1 −0.00008
  • Blackfly · dist p2 −0.00027
  • t265 fisheye 1 · fx +0.58 px
  • t265 fisheye 1 · fy +0.82 px
  • t265 fisheye 1 · cx −0.67 px ◆
  • t265 fisheye 1 · cy −0.10 px
  • t265 fisheye 1 · dist k1 −0.00617
  • t265 fisheye 1 · dist k2 +0.01371
  • t265 fisheye 1 · dist k3 −0.00847
  • t265 fisheye 1 · dist k4 +0.00180
  • t265 fisheye 2 · fx +0.91 px
  • t265 fisheye 2 · fy +1.15 px
  • t265 fisheye 2 · cx −0.86 px ◆
  • t265 fisheye 2 · cy −0.16 px
  • t265 fisheye 2 · dist k1 −0.00837
  • t265 fisheye 2 · dist k2 +0.01637
  • t265 fisheye 2 · dist k3 −0.01037
  • t265 fisheye 2 · dist k4 +0.00352
Basalt − Kalibr ◆ 2 of 16 compared rows
  • t265 fisheye 1 · fx +0.45 px
  • t265 fisheye 1 · fy +0.47 px
  • t265 fisheye 1 · cx −0.83 px ◆
  • t265 fisheye 1 · cy −0.05 px
  • t265 fisheye 1 · dist k1 −0.00621
  • t265 fisheye 1 · dist k2 +0.01800
  • t265 fisheye 1 · dist k3 −0.01508
  • t265 fisheye 1 · dist k4 +0.00434
  • t265 fisheye 2 · fx +0.68 px
  • t265 fisheye 2 · fy +0.75 px
  • t265 fisheye 2 · cx −0.86 px ◆
  • t265 fisheye 2 · cy −0.24 px
  • t265 fisheye 2 · dist k1 −0.00773
  • t265 fisheye 2 · dist k2 +0.01934
  • t265 fisheye 2 · dist k3 −0.01523
  • t265 fisheye 2 · dist k4 +0.00483
Basalt − MVIS ◆ 6 of 16 compared rows
  • t265 fisheye 1 · fx −0.13 px
  • t265 fisheye 1 · fy −0.35 px ◆
  • t265 fisheye 1 · cx −0.16 px
  • t265 fisheye 1 · cy +0.06 px
  • t265 fisheye 1 · dist k1 −0.00004
  • t265 fisheye 1 · dist k2 +0.00429 ◆
  • t265 fisheye 1 · dist k3 −0.00662 ◆
  • t265 fisheye 1 · dist k4 +0.00254 ◆
  • t265 fisheye 2 · fx −0.23 px
  • t265 fisheye 2 · fy −0.40 px ◆
  • t265 fisheye 2 · cx 0.00 px
  • t265 fisheye 2 · cy −0.08 px
  • t265 fisheye 2 · dist k1 +0.00064
  • t265 fisheye 2 · dist k2 +0.00297
  • t265 fisheye 2 · dist k3 −0.00486 ◆
  • t265 fisheye 2 · dist k4 +0.00131

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, 26 parameter charts (open to see each tool's spread)

fx px axis 448 ± 4.61

MVIS 449.95 ± 0.98 (10)
Kalibr 446.75 ± 2.2 (10)
Basalt 448.12 different model, not compared

fy px axis 447 ± 5.23

MVIS 449.10 ± 1.1 (10)
Kalibr 444.89 ± 2.5 (10)
Basalt 446.93 different model, not compared

cx px axis 369 ± 11.2

MVIS 369.81 ± 0.55 (10)
Kalibr 368.67 ± 3.3 (10)
Basalt 368.56 different model, not compared

cy px axis 279 ± 3.03

MVIS 279.90 ± 0.66 (10)
Kalibr 278.41 ± 1.4 (10)
Basalt 281.06 different model, not compared

dist k1 axis −0.311 ± 0.0277

MVIS −0.31405 ± 0.0026 (10)
Kalibr −0.30796 ± 0.01 (10)
Basalt 0.31003 different model, not compared

dist k2 axis 0.0809 ± 0.0216

MVIS 0.084 ± 0.0026 (10)
Kalibr 0.077 ± 0.0089 (10)
Basalt 11.204 different model, not compared

dist p1 axis 0.0000684 ± 0.000807

MVIS 0.00003 ± 0.00017 (10)
Kalibr 0.00011 ± 0.00038 (10)
Basalt −0.00034 different model, not compared

dist p2 axis 0.00000759 ± 0.00191

MVIS −0.00013 ± 0.00018 (10)
Kalibr 0.00014 ± 0.00095 (10)
Basalt −0.00032 different model, not compared

fx px axis 286 ± 3.38

MVIS 286.30 ± 0.39 (10)
Kalibr 285.72 ± 1.6 (10)
Basalt 286.17 ± 0.4 (10)

fy px axis 286 ± 3.75

MVIS 285.95 ± 0.32 (10)
Kalibr 285.13 ± 1.7 (10)
Basalt 285.60 ± 0.33 (10)

cx px axis 415 ± 2.23

MVIS 415.16 ± 0.2 (10)
Kalibr 415.83 ± 0.55 (10)
Basalt 415.00 ± 0.2 (10)

cy px axis 404 ± 2.69

MVIS 403.99 ± 0.21 (10)
Kalibr 404.09 ± 1.1 (10)
Basalt 404.05 ± 0.17 (10)

dist k1 axis −0.00451 ± 0.04

MVIS −0.00451 ± 0.0015 (10)
Kalibr 0.00165 ± 0.019 (10)
Basalt −0.00455 ± 0.0012 (10)

dist k2 axis 0.0368 ± 0.0877

MVIS 0.03678 ± 0.0037 (10)
Kalibr 0.02307 ± 0.042 (10)
Basalt 0.04107 ± 0.0025 (10)

dist k3 axis −0.034 ± 0.0769

MVIS −0.03395 ± 0.0043 (10)
Kalibr −0.02549 ± 0.037 (10)
Basalt −0.04057 ± 0.0024 (10)

dist k4 axis 0.00501 ± 0.0223

MVIS 0.00501 ± 0.0017 (10)
Kalibr 0.00321 ± 0.011 (10)
Basalt 0.00755 ± 0.00076 (10)

baseline to Blackfly mm axis 71.9 ± 4.05

MVIS not in one run
Kalibr 71.856 ± 1.5 (10)
Basalt not in one run

fx px axis 286 ± 3.96

MVIS 286.28 ± 0.39 (10)
Kalibr 285.37 ± 2 (10)
Basalt 286.05 ± 0.39 (10)

fy px axis 285 ± 4.2

MVIS 285.73 ± 0.32 (10)
Kalibr 284.57 ± 2.1 (10)
Basalt 285.32 ± 0.33 (10)

cx px axis 415 ± 2.24

MVIS 414.58 ± 0.22 (10)
Kalibr 415.44 ± 0.59 (10)
Basalt 414.58 ± 0.2 (10)

cy px axis 398 ± 2.61

MVIS 398.45 ± 0.16 (10)
Kalibr 398.62 ± 1 (10)
Basalt 398.38 ± 0.13 (10)

dist k1 axis −0.00554 ± 0.0898

MVIS −0.00618 ± 0.0013 (10)
Kalibr 0.00218 ± 0.032 (10)
Basalt −0.00554 ± 0.001 (10)

dist k2 axis 0.0401 ± 0.225

MVIS 0.04011 ± 0.0034 (10)
Kalibr 0.02374 ± 0.078 (10)
Basalt 0.04308 ± 0.0028 (10)

dist k3 axis −0.0367 ± 0.21

MVIS −0.03668 ± 0.0042 (10)
Kalibr −0.02631 ± 0.073 (10)
Basalt −0.04154 ± 0.0029 (10)

dist k4 axis 0.00632 ± 0.0634

MVIS 0.00632 ± 0.0017 (10)
Kalibr 0.00280 ± 0.022 (10)
Basalt 0.00763 ± 0.001 (10)

baseline to Blackfly mm axis 71.6 ± 6.27

MVIS not in one run
Kalibr 71.630 ± 2.5 (10)
Basalt not in one run

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”
4 notes on models, inputs and run settings
  • Basalt: 8 values come from another model (hatched lanes), so they are printed and not compared.
  • Like for like: MVIS uses two corners per tag and estimates the board shape; Kalibr uses all four corners and assumes a flat board.
  • Note: MVIS runs camera-only per bag, the Blackfly alone and the t265 pair (the rig's cameras share no frame stamps), so it has no baseline to the Blackfly; Kalibr's 10 camera-only runs solve the three cameras jointly.
  • Basalt: t265 pair (kb4, fisheye 2 snapped onto fisheye 1) and Blackfly alone (pinhole-radtan8, a different model from radtan: its intrinsics are shown only); no camera-only Basalt run holds both devices, so no baselines to the Blackfly.

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 (VI-Rig 4 IMUs + 3 cams)
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.

T6c · 3 GS cameras — camera calibration

MVIS 10 of 10 · Kalibr 10 of 10 · Basalt 10 of 10, Blackfly shown only

Camera · april 01–10 · Kalibr kalibr_calibrate_cameras, 3 cameras jointly

Read first: MVIS runs the Blackfly and the t265 pair separately, so it has no baseline to the Blackfly; Kalibr solves the three cameras jointly.

Notes

Like for like: MVIS uses two corners per tag and estimates the board shape; Kalibr uses all four corners and assumes a flat board.

Note: MVIS runs camera-only per bag, the Blackfly alone and the t265 pair (the rig's cameras share no frame stamps), so it has no baseline to the Blackfly; Kalibr's 10 camera-only runs solve the three cameras jointly.

Basalt: t265 pair (kb4, fisheye 2 snapped onto fisheye 1) and Blackfly alone (pinhole-radtan8, a different model from radtan: its intrinsics are shown only); no camera-only Basalt run holds both devices, so no baselines to the Blackfly.

cam0 – Blackfly · 8 rows · ◆ 3
ParameterMVISKalibrBasaltMVIS− Kalibr
fx px449.95 ± 0.98 (10)446.75 ± 2.17 (10)shown 448.12 ± 1.02 (10)◆ +3.20
fy px449.10 ± 1.12 (10)444.89 ± 2.50 (10)shown 446.93 ± 0.98 (10)◆ +4.21
cx px369.81 ± 0.55 (10)368.67 ± 3.28 (10)shown 368.56 ± 0.47 (10)+1.13
cy px279.90 ± 0.66 (10)278.41 ± 1.44 (10)shown 281.06 ± 0.51 (10)◆ +1.50
dist k1−0.31405 ± 0.00256 (10)−0.30796 ± 0.00996 (10)shown 0.31003 ± 6.46473 (10)−0.00609
dist k20.084 ± 0.003 (10)0.077 ± 0.009 (10)shown 11.204 ± 13.707 (10)+0.007
dist p10.00003 ± 0.00017 (10)0.00011 ± 0.00038 (10)shown −0.00034 ± 0.00026 (10)−0.00008
dist p2−0.00013 ± 0.00018 (10)0.00014 ± 0.00095 (10)shown −0.00032 ± 0.00024 (10)−0.00027
cam1 – t265 fisheye 1 · 9 rows · ◆ 5
ParameterMVISKalibrBasaltMVIS− KalibrBasalt− KalibrBasalt− MVIS
fx px286.30 ± 0.39 (10)285.72 ± 1.61 (10)286.17 ± 0.40 (10)+0.58+0.45−0.13
fy px285.95 ± 0.32 (10)285.13 ± 1.69 (10)285.60 ± 0.33 (10)+0.82+0.47◆ −0.35
cx px415.16 ± 0.20 (10)415.83 ± 0.55 (10)415.00 ± 0.20 (10)◆ −0.67◆ −0.83−0.16
cy px403.99 ± 0.21 (10)404.09 ± 1.09 (10)404.05 ± 0.17 (10)−0.10−0.05+0.06
dist k1−0.00451 ± 0.00155 (10)0.00165 ± 0.01882 (10)−0.00455 ± 0.00115 (10)−0.00617−0.00621−0.00004
dist k20.03678 ± 0.00370 (10)0.02307 ± 0.04201 (10)0.04107 ± 0.00248 (10)+0.01371+0.01800◆ +0.00429
dist k3−0.03395 ± 0.00435 (10)−0.02549 ± 0.03728 (10)−0.04057 ± 0.00239 (10)−0.00847−0.01508◆ −0.00662
dist k40.00501 ± 0.00170 (10)0.00321 ± 0.01100 (10)0.00755 ± 0.00076 (10)+0.00180+0.00434◆ +0.00254
baseline to Blackfly mmnot in one run71.856 ± 1.457 (10)not in one run
cam2 – t265 fisheye 2 · 9 rows · ◆ 3
ParameterMVISKalibrBasaltMVIS− KalibrBasalt− KalibrBasalt− MVIS
fx px286.28 ± 0.39 (10)285.37 ± 1.99 (10)286.05 ± 0.39 (10)+0.91+0.68−0.23
fy px285.73 ± 0.32 (10)284.57 ± 2.08 (10)285.32 ± 0.33 (10)+1.15+0.75◆ −0.40
cx px414.58 ± 0.22 (10)415.44 ± 0.59 (10)414.58 ± 0.20 (10)◆ −0.86◆ −0.860.00
cy px398.45 ± 0.16 (10)398.62 ± 1.01 (10)398.38 ± 0.13 (10)−0.16−0.24−0.08
dist k1−0.00618 ± 0.00130 (10)0.00218 ± 0.03237 (10)−0.00554 ± 0.00104 (10)−0.00837−0.00773+0.00064
dist k20.04011 ± 0.00336 (10)0.02374 ± 0.07849 (10)0.04308 ± 0.00276 (10)+0.01637+0.01934+0.00297
dist k3−0.03668 ± 0.00419 (10)−0.02631 ± 0.07301 (10)−0.04154 ± 0.00289 (10)−0.01037−0.01523◆ −0.00486
dist k40.00632 ± 0.00171 (10)0.00280 ± 0.02243 (10)0.00763 ± 0.00100 (10)+0.00352+0.00483+0.00131
baseline to Blackfly mmnot in one run71.630 ± 2.455 (10)not in one run

T6 · 3 GS cameras + 4 IMUs

MVIS 10 of 10 · Kalibr 10 of 10 · Basalt not run

Camera + IMU · april 01–10 · Kalibr 3 cameras + 4 IMUs jointly

Read first: Kalibr's intrinsics and baselines are inputs from its own camera-only calibration; its td and lever are solved given them. Data settings differ: see Notes.

Notes, including why Basalt has no run

Basalt not run: Basalt cannot calibrate T6 — one IMU per run (the rig has four) and frames grouped by exact stamp (the t265 pair and the Blackfly share none), so no single run holds the rig.

Like for like: MVIS uses two corners per tag, non-base cameras at 4 Hz or lower and an estimated board shape; Kalibr has none of these. Every tool uses the same IMU noise, measured at rest (the rig's noisiest IMU, one set for all four IMUs). Kalibr's runs date from 2026-11-08.

Note: Kalibr starts from its own camera-only calibration of each bag. Every tool uses the same IMU noise, measured at rest on the rig's noisiest IMU.

cam0 – Blackfly · 11 rows · ◆ 1
ParameterMVISKalibr IMU modelKalibrMVIS− Kalibr
fx px448.30 ± 0.61 (10)fixed 446.75 ± 2.17 (10)
fy px447.62 ± 0.58 (10)fixed 444.89 ± 2.50 (10)
cx px370.78 ± 0.71 (10)fixed 368.67 ± 3.28 (10)
cy px281.31 ± 0.69 (10)fixed 278.41 ± 1.44 (10)
dist k1−0.31178 ± 0.00310 (10)fixed −0.30796 ± 0.00996 (10)
dist k20.08088 ± 0.00268 (10)fixed 0.07731 ± 0.00889 (10)
dist p1−0.00033 ± 0.00010 (10)fixed 0.00011 ± 0.00038 (10)
dist p2−0.00012 ± 0.00013 (10)fixed 0.00014 ± 0.00095 (10)
time offset td to base IMU‡ ms−4.293 ± 0.093 (10)−5.438 ± 0.149 (10)◆ +1.145
distance to base IMU ‖p‖ mm89.32 ± 1.41 (10)91.41 ± 3.64 (10)−2.09
reproj median px0.349 ± 0.032 (10)0.483 ± 0.209 (10)fit
cam1 – t265 fisheye 1 · 12 rows · ◆ 2
ParameterMVISKalibr IMU modelKalibrMVIS− Kalibr
fx px287.08 ± 0.36 (10)fixed 285.72 ± 1.61 (10)
fy px286.70 ± 0.34 (10)fixed 285.13 ± 1.69 (10)
cx px415.32 ± 0.27 (10)fixed 415.83 ± 0.55 (10)
cy px403.53 ± 0.25 (10)fixed 404.09 ± 1.09 (10)
dist k1−0.00341 ± 0.00286 (10)fixed 0.00165 ± 0.01882 (10)
dist k20.03197 ± 0.00592 (10)fixed 0.02307 ± 0.04201 (10)
dist k3−0.03046 ± 0.00596 (10)fixed −0.02549 ± 0.03728 (10)
dist k40.00456 ± 0.00208 (10)fixed 0.00321 ± 0.01100 (10)
baseline to Blackfly mm71.267 ± 0.140 (10)fixed 71.856 ± 1.457 (10)
time offset td to base IMU‡ ms−5.022 ± 0.149 (10)−5.999 ± 0.247 (10)◆ +0.977
distance to base IMU ‖p‖ mm130.10 ± 1.48 (10)133.92 ± 3.19 (10)◆ −3.83
reproj median px0.225 ± 0.013 (10)0.272 ± 0.126 (10)fit
cam2 – t265 fisheye 2 · 12 rows · ◆ 1
ParameterMVISKalibr IMU modelKalibrMVIS− Kalibr
fx px287.02 ± 0.33 (10)fixed 285.37 ± 1.99 (10)
fy px286.40 ± 0.32 (10)fixed 284.57 ± 2.08 (10)
cx px414.56 ± 0.32 (10)fixed 415.44 ± 0.59 (10)
cy px397.96 ± 0.28 (10)fixed 398.62 ± 1.01 (10)
dist k1−0.00397 ± 0.00264 (10)fixed 0.00218 ± 0.03237 (10)
dist k20.03443 ± 0.00611 (10)fixed 0.02374 ± 0.07849 (10)
dist k3−0.03139 ± 0.00675 (10)fixed −0.02631 ± 0.07301 (10)
dist k40.00430 ± 0.00258 (10)fixed 0.00280 ± 0.02243 (10)
baseline to Blackfly mm69.849 ± 0.327 (10)fixed 71.630 ± 2.455 (10)
time offset td to base IMU‡ ms−7.798 ± 0.237 (10)−8.778 ± 0.244 (10)◆ +0.980
distance to base IMU ‖p‖ mm111.39 ± 1.72 (10)114.03 ± 3.99 (10)−2.63
reproj median px0.239 ± 0.014 (10)0.288 ± 0.140 (10)fit
base IMU – Xsens MTi · 19 rows · ◆ 4
ParameterMVISKalibr IMU modelKalibrMVIS− Kalibr
gyro Dw[0,0] scale x0.99863 ± 0.00149 (10)0.99998 ± 0.00344 (10)−0.00135
gyro Dw[1,1] scale y0.99778 ± 0.00051 (10)0.99679 ± 0.00182 (10)+0.00099
gyro Dw[2,2] scale z1.00183 ± 0.00201 (10)1.00589 ± 0.00248 (10)◆ −0.00406
gyro Dw[1,0] cross−0.00147 ± 0.00081 (10)0.00235 ± 0.00266 (10)◆ −0.00382
gyro Dw[2,0] cross0.00329 ± 0.00143 (10)0.00682 ± 0.00393 (10)−0.00353
gyro Dw[2,1] cross0.00179 ± 0.00144 (10)0.01213 ± 0.00345 (10)◆ −0.01034
accel Da[0,0] scale x0.99988 ± 0.00044 (10)1.00005 ± 0.00093 (10)−0.00017
accel Da[1,1] scale y0.99681 ± 0.00163 (10)0.99549 ± 0.00332 (10)+0.00132
accel Da[2,2] scale z1.00043 ± 0.00132 (10)1.00476 ± 0.00292 (10)◆ −0.00433
Tg[0,0] g-sensitivity mrad·s/m0.016 ± 0.048 (10)0.512 ± 0.824 (10)≠ model
Tg[0,1] g-sensitivity mrad·s/m0.074 ± 0.087 (10)0.042 ± 0.564 (10)≠ model
Tg[0,2] g-sensitivity mrad·s/m0.053 ± 0.085 (10)2.760 ± 1.449 (10)≠ model
Tg[1,0] g-sensitivity mrad·s/m−0.033 ± 0.033 (10)0.184 ± 0.967 (10)≠ model
Tg[1,1] g-sensitivity mrad·s/m−0.004 ± 0.064 (10)0.032 ± 0.643 (10)≠ model
Tg[1,2] g-sensitivity mrad·s/m0.020 ± 0.086 (10)3.582 ± 1.728 (10)≠ model
Tg[2,0] g-sensitivity mrad·s/m0.012 ± 0.074 (10)0.101 ± 0.275 (10)≠ model
Tg[2,1] g-sensitivity mrad·s/m0.058 ± 0.090 (10)−1.158 ± 0.364 (10)≠ model
Tg[2,2] g-sensitivity mrad·s/m−0.100 ± 0.087 (10)0.093 ± 0.296 (10)≠ model
t_ga gyro−accel ms−0.307 ± 0.109 (10)not in model
aux IMU – GX3-25 · 21 rows · ◆ 4
ParameterMVISKalibr IMU modelKalibrMVIS− Kalibr
gyro Dw[0,0] scale x0.99989 ± 0.00054 (10)0.99849 ± 0.00193 (10)+0.00140
gyro Dw[1,1] scale y1.00107 ± 0.00161 (10)1.00185 ± 0.00390 (10)−0.00078
gyro Dw[2,2] scale z1.00310 ± 0.00235 (10)1.01022 ± 0.00197 (10)◆ −0.00712
gyro Dw[1,0] cross−0.00110 ± 0.00065 (10)0.00045 ± 0.00239 (10)−0.00155
gyro Dw[2,0] cross−0.00240 ± 0.00149 (10)−0.01170 ± 0.00333 (10)◆ +0.00929
gyro Dw[2,1] cross0.00170 ± 0.00160 (10)−0.00122 ± 0.00438 (10)+0.00293
accel Da[0,0] scale x0.99729 ± 0.00179 (10)0.99594 ± 0.00627 (10)+0.00134
accel Da[1,1] scale y1.00073 ± 0.00041 (10)1.00340 ± 0.00167 (10)◆ −0.00267
accel Da[2,2] scale z1.00040 ± 0.00137 (10)1.00156 ± 0.00239 (10)−0.00116
Tg[0,0] g-sensitivity mrad·s/m0.041 ± 0.110 (10)−1.083 ± 0.406 (10)≠ model
Tg[0,1] g-sensitivity mrad·s/m0.038 ± 0.060 (10)−0.181 ± 0.517 (10)≠ model
Tg[0,2] g-sensitivity mrad·s/m−0.072 ± 0.126 (10)1.498 ± 0.973 (10)≠ model
Tg[1,0] g-sensitivity mrad·s/m0.001 ± 0.092 (10)−0.526 ± 0.339 (10)≠ model
Tg[1,1] g-sensitivity mrad·s/m−0.026 ± 0.056 (10)−0.033 ± 0.398 (10)≠ model
Tg[1,2] g-sensitivity mrad·s/m0.038 ± 0.076 (10)1.217 ± 0.829 (10)≠ model
Tg[2,0] g-sensitivity mrad·s/m−0.036 ± 0.087 (10)−0.224 ± 0.341 (10)≠ model
Tg[2,1] g-sensitivity mrad·s/m0.002 ± 0.067 (10)0.131 ± 0.245 (10)≠ model
Tg[2,2] g-sensitivity mrad·s/m−0.103 ± 0.091 (10)1.146 ± 0.569 (10)≠ model
time delay td to base IMU‡ ms−0.032 ± 0.209 (10)−0.133 ± 0.189 (10)+0.101
distance to base IMU ‖p‖ mm131.31 ± 0.20 (10)129.26 ± 0.88 (10)◆ +2.05
t_ga gyro−accel ms0.147 ± 0.068 (10)not in model
aux IMU – GX3-35 · 21 rows · ◆ 6
ParameterMVISKalibr IMU modelKalibrMVIS− Kalibr
gyro Dw[0,0] scale x0.99888 ± 0.00039 (10)0.99818 ± 0.00172 (10)+0.00070
gyro Dw[1,1] scale y0.99978 ± 0.00160 (10)1.00242 ± 0.00388 (10)−0.00264
gyro Dw[2,2] scale z1.00149 ± 0.00228 (10)1.00859 ± 0.00211 (10)◆ −0.00710
gyro Dw[1,0] cross−0.00161 ± 0.00078 (10)0.00090 ± 0.00242 (10)◆ −0.00250
gyro Dw[2,0] cross−0.00179 ± 0.00131 (10)−0.01102 ± 0.00320 (10)◆ +0.00923
gyro Dw[2,1] cross−0.00232 ± 0.00175 (10)−0.00612 ± 0.00448 (10)+0.00381
accel Da[0,0] scale x0.99673 ± 0.00173 (10)0.99543 ± 0.00530 (10)+0.00130
accel Da[1,1] scale y1.00005 ± 0.00038 (10)1.00237 ± 0.00149 (10)◆ −0.00232
accel Da[2,2] scale z1.00009 ± 0.00133 (10)1.00623 ± 0.00315 (10)◆ −0.00614
Tg[0,0] g-sensitivity mrad·s/m0.006 ± 0.100 (10)−0.924 ± 0.474 (10)≠ model
Tg[0,1] g-sensitivity mrad·s/m−0.026 ± 0.034 (10)−0.013 ± 0.691 (10)≠ model
Tg[0,2] g-sensitivity mrad·s/m−0.061 ± 0.081 (10)−0.251 ± 1.086 (10)≠ model
Tg[1,0] g-sensitivity mrad·s/m−0.024 ± 0.069 (10)−0.556 ± 0.390 (10)≠ model
Tg[1,1] g-sensitivity mrad·s/m−0.024 ± 0.031 (10)0.182 ± 0.584 (10)≠ model
Tg[1,2] g-sensitivity mrad·s/m0.038 ± 0.052 (10)−0.144 ± 1.024 (10)≠ model
Tg[2,0] g-sensitivity mrad·s/m−0.042 ± 0.086 (10)0.140 ± 0.334 (10)≠ model
Tg[2,1] g-sensitivity mrad·s/m0.009 ± 0.031 (10)0.188 ± 0.251 (10)≠ model
Tg[2,2] g-sensitivity mrad·s/m−0.012 ± 0.061 (10)1.292 ± 0.607 (10)≠ model
time delay td to base IMU‡ ms−1.612 ± 0.209 (10)−1.680 ± 0.170 (10)+0.068
distance to base IMU ‖p‖ mm94.70 ± 0.19 (10)93.58 ± 0.86 (10)◆ +1.12
t_ga gyro−accel ms0.081 ± 0.066 (10)not in model
aux IMU – t265 IMU · 21 rows · ◆ 3
ParameterMVISKalibr IMU modelKalibrMVIS− Kalibr
gyro Dw[0,0] scale x0.99736 ± 0.00139 (10)0.99908 ± 0.00344 (10)−0.00172
gyro Dw[1,1] scale y1.00472 ± 0.00203 (10)1.00911 ± 0.00276 (10)◆ −0.00439
gyro Dw[2,2] scale z1.00288 ± 0.00057 (10)1.00142 ± 0.00208 (10)+0.00146
gyro Dw[1,0] cross0.00242 ± 0.00163 (10)0.00617 ± 0.00408 (10)−0.00376
gyro Dw[2,0] cross0.00296 ± 0.00065 (10)0.00080 ± 0.00264 (10)+0.00216
gyro Dw[2,1] cross−0.00170 ± 0.00141 (10)−0.01204 ± 0.00351 (10)◆ +0.01034
accel Da[0,0] scale x1.01987 ± 0.00053 (10)1.01601 ± 0.00611 (10)+0.00386
accel Da[1,1] scale y1.01927 ± 0.00160 (10)1.01475 ± 0.00544 (10)+0.00452
accel Da[2,2] scale z1.01301 ± 0.00200 (10)1.00913 ± 0.00206 (10)◆ +0.00388
Tg[0,0] g-sensitivity mrad·s/m0.006 ± 0.042 (10)1.183 ± 0.753 (10)≠ model
Tg[0,1] g-sensitivity mrad·s/m0.020 ± 0.067 (10)5.084 ± 1.362 (10)≠ model
Tg[0,2] g-sensitivity mrad·s/m−0.018 ± 0.096 (10)0.238 ± 0.726 (10)≠ model
Tg[1,0] g-sensitivity mrad·s/m0.000 ± 0.040 (10)−0.908 ± 0.691 (10)≠ model
Tg[1,1] g-sensitivity mrad·s/m−0.030 ± 0.050 (10)0.003 ± 0.318 (10)≠ model
Tg[1,2] g-sensitivity mrad·s/m−0.068 ± 0.080 (10)1.923 ± 0.432 (10)≠ model
Tg[2,0] g-sensitivity mrad·s/m0.043 ± 0.035 (10)−1.374 ± 1.098 (10)≠ model
Tg[2,1] g-sensitivity mrad·s/m−0.031 ± 0.091 (10)−6.191 ± 1.532 (10)≠ model
Tg[2,2] g-sensitivity mrad·s/m0.026 ± 0.054 (10)0.110 ± 0.803 (10)≠ model
time delay td to base IMU‡ ms2.830 ± 0.212 (10)2.753 ± 0.188 (10)+0.077
distance to base IMU ‖p‖ mm125.15 ± 0.19 (10)124.41 ± 1.42 (10)+0.74
t_ga gyro−accel ms−6.564 ± 0.054 (10)not in model
MVIS default IMU model (calyx) · 41 of 117 rows, model-independent only · ◆ 6
ParameterMVISKalibr IMU modelMVIS defaultKalibrdefault− Kalibrdefault− Kalibr IMU model
cam0 – Blackfly
fx px448.30 ± 0.61 (10)448.30 ± 0.61 (10)fixed 446.75 ± 2.17 (10)0.00
fy px447.62 ± 0.58 (10)447.63 ± 0.58 (10)fixed 444.89 ± 2.50 (10)+0.02
cx px370.78 ± 0.71 (10)370.78 ± 0.72 (10)fixed 368.67 ± 3.28 (10)0.00
cy px281.31 ± 0.69 (10)281.31 ± 0.69 (10)fixed 278.41 ± 1.44 (10)0.00
dist k1−0.31178 ± 0.00310 (10)−0.31177 ± 0.00309 (10)fixed −0.30796 ± 0.00996 (10)+0.00001
dist k20.08088 ± 0.00268 (10)0.08088 ± 0.00267 (10)fixed 0.07731 ± 0.00889 (10)0.00000
dist p1−0.00033 ± 0.00010 (10)−0.00033 ± 0.00010 (10)fixed 0.00011 ± 0.00038 (10)0.00000
dist p2−0.00012 ± 0.00013 (10)−0.00012 ± 0.00013 (10)fixed 0.00014 ± 0.00095 (10)0.00000
time offset td to base IMU‡ ms−4.293 ± 0.093 (10)−4.279 ± 0.096 (10)−5.438 ± 0.149 (10)◆ +1.158+0.014
distance to base IMU ‖p‖ mm89.32 ± 1.41 (10)89.35 ± 1.41 (10)91.41 ± 3.64 (10)−2.06+0.03
reproj median px0.349 ± 0.032 (10)0.349 ± 0.032 (10)0.483 ± 0.209 (10)fitfit
cam1 – t265 fisheye 1
fx px287.08 ± 0.36 (10)287.09 ± 0.36 (10)fixed 285.72 ± 1.61 (10)+0.01
fy px286.70 ± 0.34 (10)286.70 ± 0.34 (10)fixed 285.13 ± 1.69 (10)+0.01
cx px415.32 ± 0.27 (10)415.33 ± 0.27 (10)fixed 415.83 ± 0.55 (10)+0.01
cy px403.53 ± 0.25 (10)403.53 ± 0.26 (10)fixed 404.09 ± 1.09 (10)−0.01
dist k1−0.00341 ± 0.00286 (10)−0.00340 ± 0.00284 (10)fixed 0.00165 ± 0.01882 (10)+0.00001
dist k20.03197 ± 0.00592 (10)0.03209 ± 0.00589 (10)fixed 0.02307 ± 0.04201 (10)+0.00012
dist k3−0.03046 ± 0.00596 (10)−0.03059 ± 0.00591 (10)fixed −0.02549 ± 0.03728 (10)−0.00013
dist k40.00456 ± 0.00208 (10)0.00457 ± 0.00206 (10)fixed 0.00321 ± 0.01100 (10)+0.00001
baseline to Blackfly mm71.267 ± 0.140 (10)71.268 ± 0.139 (10)fixed 71.856 ± 1.457 (10)+0.001
time offset td to base IMU‡ ms−5.022 ± 0.149 (10)−5.014 ± 0.155 (10)−5.999 ± 0.247 (10)◆ +0.984+0.008
distance to base IMU ‖p‖ mm130.10 ± 1.48 (10)130.13 ± 1.48 (10)133.92 ± 3.19 (10)◆ −3.79+0.03
reproj median px0.225 ± 0.013 (10)0.225 ± 0.013 (10)0.272 ± 0.126 (10)fitfit
cam2 – t265 fisheye 2
fx px287.02 ± 0.33 (10)287.02 ± 0.33 (10)fixed 285.37 ± 1.99 (10)0.00
fy px286.40 ± 0.32 (10)286.41 ± 0.32 (10)fixed 284.57 ± 2.08 (10)+0.01
cx px414.56 ± 0.32 (10)414.57 ± 0.32 (10)fixed 415.44 ± 0.59 (10)0.00
cy px397.96 ± 0.28 (10)397.96 ± 0.28 (10)fixed 398.62 ± 1.01 (10)0.00
dist k1−0.00397 ± 0.00264 (10)−0.00397 ± 0.00264 (10)fixed 0.00218 ± 0.03237 (10)0.00000
dist k20.03443 ± 0.00611 (10)0.03443 ± 0.00610 (10)fixed 0.02374 ± 0.07849 (10)0.00000
dist k3−0.03139 ± 0.00675 (10)−0.03146 ± 0.00673 (10)fixed −0.02631 ± 0.07301 (10)−0.00007
dist k40.00430 ± 0.00258 (10)0.00431 ± 0.00257 (10)fixed 0.00280 ± 0.02243 (10)+0.00001
baseline to Blackfly mm69.849 ± 0.327 (10)69.849 ± 0.328 (10)fixed 71.630 ± 2.455 (10)0.000
time offset td to base IMU‡ ms−7.798 ± 0.237 (10)−7.791 ± 0.237 (10)−8.778 ± 0.244 (10)◆ +0.987+0.007
distance to base IMU ‖p‖ mm111.39 ± 1.72 (10)111.45 ± 1.70 (10)114.03 ± 3.99 (10)−2.58+0.06
reproj median px0.239 ± 0.014 (10)0.239 ± 0.015 (10)0.288 ± 0.140 (10)fitfit
aux IMU – GX3-25
time delay td to base IMU‡ ms−0.032 ± 0.209 (10)−0.022 ± 0.208 (10)−0.133 ± 0.189 (10)+0.111+0.011
distance to base IMU ‖p‖ mm131.31 ± 0.20 (10)131.31 ± 0.20 (10)129.26 ± 0.88 (10)◆ +2.050.00
aux IMU – GX3-35
time delay td to base IMU‡ ms−1.612 ± 0.209 (10)−1.602 ± 0.209 (10)−1.680 ± 0.170 (10)+0.078+0.010
distance to base IMU ‖p‖ mm94.70 ± 0.19 (10)94.70 ± 0.19 (10)93.58 ± 0.86 (10)◆ +1.120.00
aux IMU – t265 IMU
time delay td to base IMU‡ ms2.830 ± 0.212 (10)2.832 ± 0.212 (10)2.753 ± 0.188 (10)+0.079+0.002
distance to base IMU ‖p‖ mm125.15 ± 0.19 (10)125.16 ± 0.19 (10)124.41 ± 1.42 (10)+0.75+0.01