Valve Index

Demo and values

VR headset from Valve with a front global-shutter fisheye stereo pair and a 6-axis IMU at about 1 kHz, solved from the Monado SLAM calibration data.

Recovered by MVIS from the Monado calibration data.

Reprojection median0.19 px

cam0–cam1 baseline133.7 mm

cam0 td−0.03 ms

cam0 lever arm140.2 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 shown, 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

Camera	Lever x, y, z (mm)	Distance (mm)	log(R) (rad)	td (ms)	Field of view
cam0	+70.6, +120.7, +9.8	140.2	[−0.064, −0.061, −1.562]	−0.03	120° × 120°
cam1	+69.5, −13.0, +10.3	71.5	[+0.044, +0.072, −1.555]	−0.02	~119° × 119°

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

Specifications

From the dataset
Cameras	2 × 960×960 at 54 Hz, grayscale
Shutter	Global
Lens	Fisheye, about 120° (unofficial)
IMU	6-axis, about 1 kHz
Measured in these recordings
Calibrated field of view	cam0 120° × 120° · cam1 ~119° × 119°
Not published
Open	Sensor part numbers

Dataset

Recording	Monado MIC, imucalib1
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/tum_mic/ (access by automatic approval)
Configs and results	Calibench community, valve-index/ (access by automatic approval)
Data	Monado SLAM Datasets
Worked example	Monado

AprilGrid 6 × 6, 225 × 225 mm. Standard pattern, to scale

Detailed results

Lens Calibrated field of view

Calibrated field of view, horizontal × vertical. cam0: 120° × 120°, corners reach 62° from the axis · cam1: ~119° × 119°, corners reach 61° 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 −0.70 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: −0.70 ± 0.27 ms.

Gyro scale x−1.07 %

Gyro scale y−0.66 %

Gyro scale z+0.23 %

Accel scale x+5.49 %

Accel scale y+5.92 %

Accel scale z+6.69 %

−8 %0+8 %

Timing cam0 td −0.03 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	420.49
fy px	420.60
cx px	469.50
cy px	479.15
k1	0.19732
k2	0.02263
k3	−0.20704
k4	0.08408
Lever x mm	+70.61
Lever y mm	+120.69
Lever z mm	+9.84
log(R) rad	[−0.0643, −0.0609, −1.5619]
td ms	−0.034
Reprojection px	0.259
cam1
fx px	421.62
fy px	421.84
cx px	468.03
cy px	484.42
k1	0.20054
k2	0.01016
k3	−0.18798
k4	0.07530
Lever x mm	+69.53
Lever y mm	−13.03
Lever z mm	+10.32
log(R) rad	[+0.0439, +0.0721, −1.5553]
td ms	−0.019
Reprojection px	0.286
IMU
t_ga ms	−0.70 ± 0.27

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.

How it was run

• Camera + IMU with camera intrinsics free and t_ga estimated. Batch of 2026-11-02.