VI-Rig — 4 IMUs + 3 cameras
Hosted in the Calibench Hugging Face organization:
calibench-vi/datasets → virig-4imus-3cams
(CC-BY-4.0). A companion set of 17 ArUco-tag sequences on the same rig is in
virig-4imus-3cams-aruco.
4 IMUs + 3 Cams
Section titled “4 IMUs + 3 Cams”| Sensor | Hz | Topic | Resolution |
|---|---|---|---|
| MicroStrain GX3-25 | 500 | /gx3_25/data | — |
| MicroStrain GX3-35 | 100 | /gx3_35/imu/data | — |
| Xsens MTI-100 | 400 | /imu/data | — |
| RealSense T265 IMU | 200 | /t265/imu | — |
| FLIR BlackFly | 30 | /blackfly/image_raw | 720×540 |
| RealSense T265 Left | 30 | /t265/fisheye1/image_raw | 848×800 |
| RealSense T265 Right | 30 | /t265/fisheye2/image_raw | 848×800 |
Datasets
Section titled “Datasets”The AprilGrid target config
april.yaml
is hosted alongside the bags.
| Bag | Download |
|---|---|
virig_4imus_3cams_april_01.bag | download |
virig_4imus_3cams_april_02.bag | download |
virig_4imus_3cams_april_03.bag | download |
virig_4imus_3cams_april_04.bag | download |
virig_4imus_3cams_april_05.bag | download |
virig_4imus_3cams_april_06.bag | download |
virig_4imus_3cams_april_07.bag | download |
virig_4imus_3cams_april_08.bag | download |
virig_4imus_3cams_april_09.bag | download |
virig_4imus_3cams_april_10.bag | download |
The static sequence (virig_4imus_3cams_april_01_static.bag) is not yet
hosted on Calibench.
Reference results
Section titled “Reference results”Per-config Kalibr and MVIS reference results (dated snapshots, JSON against the
benchmark schema) are published in
calibench-vi/results —
see the
Kalibr/
and
MVIS/
trees (virig_* and mvis_* configs) — and are ranked on the
leaderboard.
Sensor numbering for Kalibr and MVIS results
Section titled “Sensor numbering for Kalibr and MVIS results”| Sensor | BlackFly | T265 Left | T265 Right | GX3-25 | GX3-35 | Xsens MTI-100 | T265 IMU |
|---|---|---|---|---|---|---|---|
| Kalibr | cam0 | cam1 | cam2 | imu0 | imu1 | imu2 | imu3 |
| MVIS | Cam2 | Cam0 | Cam1 | Ib | Is0 | Is1 | Is2 |
Running MVIS
Section titled “Running MVIS”mvis calibrate -c virig_3cams_cam.yaml # cameras firstmvis cam-imu -c virig_3cams_cam_imu.yaml