VI-Rig — 4 IMUs + 4 cameras
Hosted in the Calibench Hugging Face organization:
calibench-vi/datasets → virig-4imus-4cams
(CC-BY-4.0).
4 IMUs + 4 Cams
Section titled “4 IMUs + 4 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 | — |
| RealSense T265 Left | 30 | /t265/fisheye1/image_raw | 848×800 |
| RealSense T265 Right | 30 | /t265/fisheye2/image_raw | 848×800 |
| ELP Left rolling shutter | 25 | /elp/split_sync_image_node/left/image_raw | 640×480 |
| ELP Right rolling shutter | 25 | /elp/split_sync_image_node/right/image_raw | 640×480 |
Datasets
Section titled “Datasets”The AprilGrid target config
april.yaml
is hosted alongside the bags. Sequences 09–15 also have unprocessed
*_raw.bag variants in the
same folder.
| Bag | Download |
|---|---|
4imus_4cams_01.bag | download |
4imus_4cams_02.bag | download |
4imus_4cams_03.bag | download |
4imus_4cams_04.bag | download |
4imus_4cams_05.bag | download |
4imus_4cams_06.bag | download |
4imus_4cams_07.bag | download |
4imus_4cams_08.bag | download |
4imus_4cams_09.bag | download |
4imus_4cams_10.bag | download |
4imus_4cams_11.bag | download |
4imus_4cams_12.bag | download |
4imus_4cams_13.bag | download |
4imus_4cams_14.bag | download |
4imus_4cams_15.bag | download |
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 (mvis_t265* and mvis_elp* configs) — and are ranked on the
leaderboard.
When calibrating IMU and ELP cameras with Kalibr, the Kalibr extension is used.
Sensor numbering for Kalibr and MVIS results
Section titled “Sensor numbering for Kalibr and MVIS results”| Sensor | T265 Left | T265 Right | ELP Left | ELP Right | GX3-25 | GX3-35 | Xsens MTI-100 | T265 IMU |
|---|---|---|---|---|---|---|---|---|
| Kalibr with T265 | cam0 | cam1 | — | — | imu0 | imu1 | imu2 | imu3 |
| Kalibr with ELP | — | — | cam0 | cam1 | imu0 | imu1 | imu2 | imu3 |
| MVIS | Cam0 | Cam1 | Cam2 | Cam3 | Ib | Is0 | Is1 | Is2 |
Running MVIS
Section titled “Running MVIS”mvis calibrate -c virig_4cams_cam.yaml # cameras firstmvis cam-imu -c virig_4cams_cam_imu.yaml