Valve Index

Demo and values

VR headset from Valve with a front global-shutter fisheye stereo pair and a 6-axis IMU at about 1 kHz, solved from the Monado SLAM calibration data.

Recovered by MVIS from the Monado calibration data.

Reprojection median0.19 px

cam0–cam1 baseline133.7 mm

cam0 td−0.03 ms

cam0 lever arm140.2 mm

One recording shown, with no independent reference on this page. These values show what MVIS solved, not how close they are to the truth.

Calibration process

The solved path of the rig around the board. Press Play or drag the bar to follow it, and use the buttons to change the view.

▶︎ Playcam0cam1Loading

Board cornersRig path, darker is laterStartCurrent position

Solved rig

The solved rig in 3D, to scale. Tap a sensor for its values. Full screen lets you rotate and zoom. Grid squares are 20 mm.

3DFrontTopSide+−

To scale, from above and the front

From above

From the front

Camera	Lever x, y, z (mm)	Distance (mm)	log(R) (rad)	td (ms)	Field of view
cam0	+70.6, +120.7, +9.8	140.2	[−0.064, −0.061, −1.562]	−0.03	120° × 120°
cam1	+69.5, −13.0, +10.3	71.5	[+0.044, +0.072, −1.555]	−0.02	~119° × 119°

Solved by MVIS. Lever arms are in the IMU frame. Rotation is log(R), camera in the IMU frame.

Specifications

From the dataset
Cameras	2 × 960×960 at 54 Hz, grayscale
Shutter	Global
Lens	Fisheye, about 120° (unofficial)
IMU	6-axis, about 1 kHz
Measured in these recordings
Calibrated field of view	cam0 120° × 120° · cam1 ~119° × 119°
Not published
Open	Sensor part numbers

Dataset

Recording	Monado MIC, imucalib1
Source	Monado SLAM Datasets, Collabora
Board	AprilGrid 6×6, tag 30 mm, spacing 0.3, t36h11
Licence	CC BY 4.0
Hosted copy	Calibench, converted/tum_mic/ (access by automatic approval)
Configs and results	Calibench community, valve-index/ (access by automatic approval)
Data	Monado SLAM Datasets
Worked example	Monado

AprilGrid 6 × 6, 225 × 225 mm. Standard pattern, to scale

Detailed results

Lens Calibrated field of view

Calibrated field of view, horizontal × vertical. cam0: 120° × 120°, corners reach 62° from the axis · cam1: ~119° × 119°, corners reach 61° from the axis

cam0 cam1

Read from the calibrated lens fit at the image edges, through the principal point. ~ marks an axis past the range the corners reached, where the fit is extrapolated. Past the fit means an edge lies beyond where the fit holds, so no value is given.

IMU Gyro-to-accel offset −0.70 ms

Scale as deviation from 1. Model: calyx. Gyro-to-accel time offset t_ga: −0.70 ± 0.27 ms.

Gyro scale x−1.07 %

Gyro scale y−0.66 %

Gyro scale z+0.23 %

Accel scale x+5.49 %

Accel scale y+5.92 %

Accel scale z+6.69 %

−8 %0+8 %

Timing cam0 td −0.03 ms

Offsets to scale, with t_imu = t_cam + td.

Full results Every solved parameter

Rotation is log(R) in rad, camera in the IMU frame.

Parameter	MVIS
cam0
fx px	420.49
fy px	420.60
cx px	469.50
cy px	479.15
k1	0.19732
k2	0.02263
k3	−0.20704
k4	0.08408
Lever x mm	+70.61
Lever y mm	+120.69
Lever z mm	+9.84
log(R) rad	[−0.0643, −0.0609, −1.5619]
td ms	−0.034
Reprojection px	0.259
cam1
fx px	421.62
fy px	421.84
cx px	468.03
cy px	484.42
k1	0.20054
k2	0.01016
k3	−0.18798
k4	0.07530
Lever x mm	+69.53
Lever y mm	−13.03
Lever z mm	+10.32
log(R) rad	[+0.0439, +0.0721, −1.5553]
td ms	−0.019
Reprojection px	0.286
IMU
t_ga ms	−0.70 ± 0.27

Limits

• One recording shown, with no independent reference on this page. These values show what MVIS solved, not how close they are to the truth.

How it was run

• Camera + IMU with camera intrinsics free and t_ga on. Batch of 2026-11-02.