- Cameras
- 2 × 640×480, 30 Hz, grayscaleDataset
- Shutter
- Not statedNot published
- Field of view
- Calibrated 119° × 95°Measured
- Baseline
- 105.6 mmMeasured
- IMU
- About 1 kHzDataset
- Output
- EuRoC layout, in the datasetDataset
Values from the Monado SLAM Datasets · 1 recording shown · CC BY 4.0 data
Demo and values
Section titled “Demo and values”VR headset from Samsung with two 640×480 grayscale tracking cameras and an IMU at about 1 kHz, solved from the Monado SLAM calibration data.
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 shown, with no independent reference on this page. These values show what MVIS solved, not how close they are to the truth.
Calibration process
Section titled “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
Section titled “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.
To scale, from above and the front
| Camera | Lever x, y, z (mm) | Distance (mm) | log(R) (rad) | td (ms) | Field of view |
|---|---|---|---|---|---|
| cam0 | −84.1, −2.3, +4.0 | 84.2 | [−0.366, −0.406, +0.069] | −0.65 | 119° × 95° |
| cam1 | +21.5, −2.4, +3.8 | 21.9 | [−0.374, +0.402, −0.082] | −0.66 | 119° × 94° |
Solved by MVIS. Lever arms (camera–IMU position offsets) are in the IMU frame. Rotation is log(R), camera in the IMU frame.
Specifications
Section titled “Specifications”| From the dataset | |
|---|---|
| Cameras | 2 × 640×480 grayscale at 30 Hz |
| IMU | About 1 kHz |
| Measured in these recordings | |
| Calibrated field of view | cam0 119° × 95° · cam1 119° × 94° |
| Not published | |
| Open | Sensor part numbers |
Dataset
Section titled “Dataset”| Recording | Monado MOC, imucalib, round 4 |
| 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/monado_moc/ (access by automatic approval) |
| Configs and results | Calibench community, samsung-odyssey-plus/ (access by automatic approval) |
| Data | Monado SLAM Datasets |
Detailed results
Section titled “Detailed results”Lens Calibrated field of view
Calibrated field of view, horizontal × vertical. cam0: 119° × 95°, corners reach 73° from the axis · cam1: 119° × 94°, 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 +2.20 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: +2.20 ± 0.13 ms.
Timing cam0 td −0.65 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 | 269.41 |
| fy px | 269.32 |
| cx px | 322.90 |
| cy px | 246.13 |
| k1 | 0.07728 |
| k2 | −0.02023 |
| k3 | 0.19205 |
| k4 | −0.11194 |
| Lever x mm | −84.08 |
| Lever y mm | −2.28 |
| Lever z mm | +4.00 |
| log(R) rad | [−0.3664, −0.4062, +0.0686] |
| td ms | −0.646 |
| Reprojection px | 0.393 |
| cam1 | |
| fx px | 271.08 |
| fy px | 271.61 |
| cx px | 323.52 |
| cy px | 251.16 |
| k1 | 0.05617 |
| k2 | 0.00875 |
| k3 | 0.17443 |
| k4 | −0.10925 |
| Lever x mm | +21.48 |
| Lever y mm | −2.42 |
| Lever z mm | +3.75 |
| log(R) rad | [−0.3744, +0.4021, −0.0824] |
| td ms | −0.659 |
| Reprojection px | 0.448 |
| IMU | |
| t_ga ms | +2.20 ± 0.13 |
Limits
Section titled “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.
- In this batch, 2 of the 4 rounds on this headset didn't converge to a usable solve (rounds 1 and 3). Round 4 is shown. Treat these values with that in mind.
How it was run
Section titled “How it was run”- Camera + IMU with camera intrinsics free and t_ga estimated. Batch of 2026-11-02.