Intel RealSense T265

Demo and values

Tracking camera from Intel with two global-shutter fisheye cameras and a Bosch BMI055 IMU, solved here on its own IMU from one recording of our VI-Rig.

The 3D scene MVIS recovered from recording 1.

Reprojection median0.21 px

cam0–cam1 baseline63.8 mm

cam0 td−7.99 ms

cam0 lever arm15.0 mm

Reprojection is how far, in pixels, the detected corners lie from where the solve puts them. td is the camera–IMU time offset, and the lever arm is the camera–IMU position offset.

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

Calibration process

The path of the rig around the board, as MVIS solved it. To explore it:

• Press Play or drag the bar to follow the path.
• Use the view buttons to change the view.
• Pick a camera card to put that camera on the frustum, the pyramid that shows its view.

Each card draws the board from the solved pose, with the corners MVIS detected. We publish no camera images.

Solved rig

The solved rig in 3D, to scale. Tap a sensor to see its values. In full screen you can rotate and zoom. Grid squares are 20 mm.

3DFrontTopSide+−

To scale, from above and the front

From above

From the front

Dashed: past the fit, drawn to the corners' reach, so the lens sees at least this much.

Camera	Lever x, y, z (mm)	Distance (mm)	log(R) (rad)	td (ms)	Field of view
cam0	+11.7, +4.3, +8.4	15.0	[+0.017, −0.000, −3.127]	−7.99	past the fit
cam1	−52.1, +4.1, +7.5	52.8	[+0.027, −0.005, −3.126]	−10.65	past the fit

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

Specifications

Published by the maker
Cameras	2 × OV9282, 848×800 at 30 Hz
Shutter	Global
Lens	Fisheye, about 163°
Measured in these recordings
IMU	Bosch BMI055, gyro at 200 Hz, accel at 62.5 Hz
Calibrated field of view	cam0 past the fit · cam1 past the fit

Dataset

Recording	VI-Rig, recording 1, 80 s window chosen by motion
Format	ROS bag
Board	AprilGrid 6×6, tag 88 mm, spacing 0.3, t36h11
Configs and results	Calibench community, intel-t265/ (access by automatic approval)
Licence	CC BY-NC 4.0, for the data and for this page's clip and figures; commercial use by request
Hosted	Calibench, virig-4imus-3cams/ (access by automatic approval)

AprilGrid 6 × 6, 660 × 660 mm. Standard pattern, to scale

Detailed results

Lens Calibrated field of view

Calibrated field of view, horizontal × vertical. cam0: past the fit, corners reach 70° from the axis · cam1: past the fit, corners reach 69° from the axis

cam0 cam1

We read these from the calibrated lens fit at the image edges, through the principal point (where the optical axis meets the image). ~ marks an axis past where the corners reached, so the fit is extrapolated there. Past the fit means an edge lies beyond where the fit holds, so we give no value.

IMU Gyro–accel time offset t_ga −6.59 ms

Each bar shows a scale as its deviation from 1. IMU model: calyx. t_ga, the time offset between the gyroscope and accelerometer channels: −6.59 ± 0.43 ms.

Gyro scale x−0.45 %

Gyro scale y−0.29 %

Gyro scale z+0.48 %

Accel scale x+2.08 %

Accel scale y+2.18 %

Accel scale z+1.31 %

−8 %0+8 %

Timing cam0 td −7.99 ms

The time offsets, to scale. td is the camera–IMU time offset, 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	286.44
fy px	285.86
cx px	415.36
cy px	403.21
k1	−0.00258
k2	0.03660
k3	−0.03556
k4	0.00595
Lever x mm	+11.69
Lever y mm	+4.33
Lever z mm	+8.41
log(R) rad	[+0.0173, −0.0003, −3.1271]
td ms	−7.992
Reprojection px	0.415
cam1
fx px	286.30
fy px	285.56
cx px	414.91
cy px	397.49
k1	−0.00356
k2	0.03876
k3	−0.03782
k4	0.00702
Lever x mm	−52.15
Lever y mm	+4.07
Lever z mm	+7.52
log(R) rad	[+0.0268, −0.0045, −3.1260]
td ms	−10.649
Reprojection px	0.406
IMU
t_ga ms	−6.59 ± 0.43

Limits

• One recording, with no independent reference on this page. These values show what MVIS solved, not how close they are to the truth.
• The T265 gyro-to-accel offset isn't a pure time shift. We measured about −6.8 ms at 2–4 Hz and −1.2 ms at 30–40 Hz, so a single t_ga is a compromise that depends on the motion.

How it was run

• Fisheye stereo plus the T265's own IMU, camera intrinsics free, t_ga estimated. Batch of 2026-11-03.