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Open MVIS

Datasets

Datasets released with Open MVIS, plus the public datasets used as worked examples.

Released — VI-Rig

Section titled “Released — VI-Rig”

Collected on a self-built VI-Rig for research on multi-visual-inertial calibration. Both releases include Kalibr and MVIS reference results.

DatasetSensorsSequences
4 IMUs + 3 cameras4 IMUs, 3 global-shutter10 AprilGrid + 1 static
4 IMUs + 4 cameras4 IMUs, 2 GS + 2 rolling shutter15

Public datasets used as examples

Section titled “Public datasets used as examples”

Not hosted here — these are third-party datasets with complete CamCalib runs documented against them:

DatasetRigExample
TUM VIStereo 1024² fisheye + BMI160TUM VI
TUM MIC (Monado / Valve Index)Stereo fisheye + IMUMonado
looperrobotics SA162–3 cameras + 400 Hz IMULooper SA16

Contributing one: Submit a dataset.

VI-Rig sensors

Section titled “VI-Rig sensors”

We use a self-built VI-Rig to collect data. The rig contains 4 IMUs, one monocular camera, and 2 stereo pairs. Treating each stereo camera as two monocular cameras, we have 5 cameras total.

VI-Rig with 4 IMUs and 5 cameras

Visual-Inertial (VI)-Rig — 4 IMUs and 5 cameras:

  • MicroStrain GX3-25
  • MicroStrain GX3-35
  • Xsens MTI-100
  • RealSense T265 IMU
  • FLIR BlackFly
  • RealSense T265 Left & Right cameras
  • ELP Left & Right rolling-shutter cameras

ROS drivers can be found here.

Dataset info

Section titled “Dataset info”

The datasets contain the following ROS topics:

SensorHzTopicResolution
MicroStrain GX3-25500/gx3_25/data—
MicroStrain GX3-35100/gx3_35/imu/data—
Xsens MTI-100400/imu/data—
RealSense T265 IMU200/t265/imu—
FLIR BlackFly30/blackfly/image_raw720×540
RealSense T265 Left30/t265/fisheye1/image_raw848×800
RealSense T265 Right30/t265/fisheye2/image_raw848×800
ELP Left rolling shutter25/elp/split_sync_image_node/left/image_raw640×480
ELP Right rolling shutter25/elp/split_sync_image_node/right/image_raw640×480