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--- |
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license: cc-by-4.0 |
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--- |
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# Monado SLAM Datasets |
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The [Monado SLAM datasets |
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(MSD)](https://huggingface.co/datasets/collabora/monado-slam-datasets), are |
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egocentric visual-inertial SLAM datasets recorded to improve the |
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[Basalt](https://gitlab.com/VladyslavUsenko/basalt)-based inside-out tracking |
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component of the [Monado](https://monado.dev) project. These have a permissive |
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license [CC-BY 4.0](http://creativecommons.org/licenses/by/4.0/), meaning you |
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can use them for any purpose you want, including commercial, and only a mention |
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of the original project is required. The creation of these datasets was |
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supported by [Collabora](https://collabora.com) |
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Monado is an open-source OpenXR runtime that you can use to make devices OpenXR |
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compatible. It also provides drivers for different existing hardware thanks to |
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different contributors in the community creating drivers for it. Monado provides |
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different XR-related modules that these drivers can use. To be more specific, |
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inside-out head tracking is one of those modules and, while you can use |
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different tracking systems, the main system is a [fork of |
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Basalt](https://gitlab.freedesktop.org/mateosss/basalt). Creating a good |
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open-source tracking solution requires a solid measurement pipeline to |
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understand how changes in the system affect tracking quality. For this reason, |
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the creation of these datasets was essential. |
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These datasets are very specific to the XR use case as they contain VI-SLAM |
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footage recorded from devices such as VR headsets, but other devices like phones |
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or AR glasses might be added in the future. These were made since current SLAM |
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datasets like EuRoC or TUM-VI were not specific enough for XR, or they didn't |
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have permissively enough usage licenses. |
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For questions or comments, you can use the Hugging Face |
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[Community](https://huggingface.co/datasets/collabora/monado-slam-datasets/discussions), |
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join Monado's discord [server](https://discord.gg/8RkJgRJ) and ask in the |
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`#slam` channel, or send an email to <[email protected]>. |
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## List of sequences |
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- [MI_valve_index](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index) |
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- [MIC_calibration](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIC_calibration) |
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- [MIC01_camcalib1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC01_camcalib1.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC01_camcalib1.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC02_camcalib2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC02_camcalib2.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC02_camcalib2.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC03_camcalib3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC03_camcalib3.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC03_camcalib3.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC04_imucalib1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC04_imucalib1.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC04_imucalib1.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC05_imucalib2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC05_imucalib2.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC05_imucalib2.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC06_imucalib3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC06_imucalib3.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC06_imucalib3.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC07_camcalib4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC07_camcalib4.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC07_camcalib4.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC08_camcalib5](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC08_camcalib5.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC08_camcalib5.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC09_imucalib4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC09_imucalib4.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC09_imucalib4.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC10_imucalib5](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC10_imucalib5.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC10_imucalib5.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC11_camcalib6](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC11_camcalib6.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC11_camcalib6.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC12_imucalib6](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC12_imucalib6.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC12_imucalib6.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC13_camcalib7](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC13_camcalib7.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC13_camcalib7.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC14_camcalib8](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC14_camcalib8.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC14_camcalib8.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC15_imucalib7](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC15_imucalib7.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC15_imucalib7.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIC16_imucalib8](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC16_imucalib8.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC16_imucalib8.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO_others](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIO_others) |
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- [MIO01_hand_puncher_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO01_hand_puncher_1.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO01_hand_puncher_1.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO02_hand_puncher_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO02_hand_puncher_2.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO02_hand_puncher_2.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO03_hand_shooter_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO03_hand_shooter_easy.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO03_hand_shooter_easy.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO04_hand_shooter_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO04_hand_shooter_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO04_hand_shooter_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO05_inspect_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO05_inspect_easy.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO05_inspect_easy.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO06_inspect_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO06_inspect_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO06_inspect_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO07_mapping_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO07_mapping_easy.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO07_mapping_easy.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO08_mapping_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO08_mapping_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO08_mapping_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO09_short_1_updown](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO09_short_1_updown.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO09_short_1_updown.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO10_short_2_panorama](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO10_short_2_panorama.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO10_short_2_panorama.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO11_short_3_backandforth](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO11_short_3_backandforth.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO11_short_3_backandforth.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO12_moving_screens](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO12_moving_screens.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO12_moving_screens.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO13_moving_person](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO13_moving_person.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO13_moving_person.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO14_moving_props](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO14_moving_props.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO14_moving_props.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO15_moving_person_props](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO15_moving_person_props.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO15_moving_person_props.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIO16_moving_screens_person_props](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIO_others/MIO16_moving_screens_person_props.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO16_moving_screens_person_props.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIP_playing](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing) |
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- [MIPB_beat_saber](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber) |
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- [MIPB01_beatsaber_100bills_360_normal](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber/MIPB01_beatsaber_100bills_360_normal.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB01_beatsaber_100bills_360_normal.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIPB02_beatsaber_crabrave_360_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber/MIPB02_beatsaber_crabrave_360_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB02_beatsaber_crabrave_360_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
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- [MIPB03_beatsaber_countryrounds_360_expert](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber/MIPB03_beatsaber_countryrounds_360_expert.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB03_beatsaber_countryrounds_360_expert.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPB04_beatsaber_fitbeat_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber/MIPB04_beatsaber_fitbeat_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB04_beatsaber_fitbeat_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPB05_beatsaber_fitbeat_360_expert](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber/MIPB05_beatsaber_fitbeat_360_expert.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB05_beatsaber_fitbeat_360_expert.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPB06_beatsaber_fitbeat_expertplus_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber/MIPB06_beatsaber_fitbeat_expertplus_1.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB06_beatsaber_fitbeat_expertplus_1.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPB07_beatsaber_fitbeat_expertplus_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber/MIPB07_beatsaber_fitbeat_expertplus_2.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB07_beatsaber_fitbeat_expertplus_2.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPB08_beatsaber_long_session_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber/MIPB08_beatsaber_long_session_1.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB08_beatsaber_long_session_1.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPP_pistol_whip](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip) |
|
- [MIPP01_pistolwhip_blackmagic_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip/MIPP01_pistolwhip_blackmagic_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP01_pistolwhip_blackmagic_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPP02_pistolwhip_lilith_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip/MIPP02_pistolwhip_lilith_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP02_pistolwhip_lilith_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPP03_pistolwhip_requiem_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip/MIPP03_pistolwhip_requiem_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP03_pistolwhip_requiem_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPP04_pistolwhip_revelations_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip/MIPP04_pistolwhip_revelations_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP04_pistolwhip_revelations_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPP05_pistolwhip_thefall_hard_2pistols](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip/MIPP05_pistolwhip_thefall_hard_2pistols.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP05_pistolwhip_thefall_hard_2pistols.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPP06_pistolwhip_thegrave_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip/MIPP06_pistolwhip_thegrave_hard.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP06_pistolwhip_thegrave_hard.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPT_thrill_of_the_fight](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPT_thrill_of_the_fight) |
|
- [MIPT01_thrillofthefight_setup](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPT_thrill_of_the_fight/MIPT01_thrillofthefight_setup.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPT01_thrillofthefight_setup.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPT02_thrillofthefight_fight_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPT_thrill_of_the_fight/MIPT02_thrillofthefight_fight_1.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPT02_thrillofthefight_fight_1.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
- [MIPT03_thrillofthefight_fight_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPT_thrill_of_the_fight/MIPT03_thrillofthefight_fight_2.zip): <details style="display: inline;cursor: pointer;user-select: none"><summary>Preview 5x</summary><video width="320" height="320" controls preload="none"><source src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPT03_thrillofthefight_fight_2.webm" type="video/webm"/>Video tag not supported.</video></details> |
|
|
|
## Valve Index datasets |
|
|
|
These datasets were recorded using a Valve Index with the `vive` driver in |
|
Monado and they have ground truth from 3 lighthouses tracking the headset through |
|
the proprietary OpenVR implementation provided by SteamVR. The exact commit used |
|
in Monado at the time of recording is |
|
[a4e7765d](https://gitlab.freedesktop.org/mateosss/monado/-/commit/a4e7765d7219b06a0c801c7bb33f56d3ea69229d). |
|
The datasets are in the ASL dataset format, the same as the [EuRoC |
|
datasets](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets). |
|
Besides the main EuRoC format files, we provide some extra files with raw |
|
timestamp data for exploring real time timestamp alignment techniques. |
|
|
|
The dataset is post-processed to reduce as much as possible special treatment |
|
from SLAM systems: camera-IMU and ground truth-IMU timestamp alignment, IMU |
|
alignment and bias calibration have been applied, lighthouse tracked pose has |
|
been converted to IMU pose, and so on. Most of the post-processing was done with |
|
Basalt |
|
[calibration](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md?ref_type=heads#camera-imu-mocap-calibration) |
|
and |
|
[alignment](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Realsense.md?ref_type=heads#generating-time-aligned-ground-truth) |
|
tools, as well as the |
|
[xrtslam-metrics](https://gitlab.freedesktop.org/mateosss/xrtslam-metrics) |
|
scripts for Monado tracking. The post-processing process is documented in [this |
|
video][post-processing-video] which goes through making the [MIPB08] dataset ready |
|
for use starting from its raw version. |
|
|
|
### Data |
|
|
|
#### Camera samples |
|
|
|
In the `vive` driver from Monado, we don't have direct access to the camera |
|
device timestamps but only to V4L2 timestamps. These are not exactly hardware |
|
timestamps and have some offset with respect to the device clock in which the |
|
IMU samples are timestamped. |
|
|
|
The camera frames can be found in the `camX/data` directory as PNG files with |
|
names corresponding to their V4L2 timestamps. The `camX/data.csv` file contains |
|
aligned timestamps of each frame. The `camX/data.extra.csv` also contains the |
|
original V4L2 timestamp and the "host timestamp" which is the time at which the |
|
host computer had the frame ready to use after USB transmission. By separating |
|
arrival time and exposure time algorithms can be made to be more robust for |
|
real time operation. |
|
|
|
The cameras of the Valve Index have global shutters with a resolution of 960×960 |
|
streaming at 54fps. They have auto exposure enabled. While the cameras of the |
|
Index are RGB you will find only grayscale images in these datasets. The |
|
original images are provided in YUYV422 format but only the luma component is |
|
stored. |
|
|
|
For each dataset, the camera timestamps are aligned with respect to IMU |
|
timestamps by running visual-only odometry with Basalt on a 30-second subset of |
|
the dataset. The resulting trajectory is then aligned with the |
|
[`basalt_time_alignment`](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Realsense.md?ref_type=heads#generating-time-aligned-ground-truth) |
|
tool that aligns the rotational velocities of the trajectory with the gyroscope |
|
samples and returns the resulting offset in nanoseconds. That correction is then |
|
applied to the dataset. Refer to the post-processing walkthrough |
|
[video][post-processing-video] for more details. |
|
|
|
#### IMU samples |
|
|
|
The IMU timestamps are device timestamps, they come at about 1000Hz. We provide |
|
an `imu0/data.raw.csv` file that contains the raw measurements without any axis |
|
scale misalignment o bias correction. `imu0/data.csv` has the |
|
scale misalignment and bias corrections applied so that the SLAM system can |
|
ignore those corrections. `imu0/data.extra.csv` contains the arrival time of the |
|
IMU sample to the host computer for algorithms that want to adapt themselves to |
|
work in real time. |
|
|
|
#### Ground truth information |
|
|
|
The ground truth setup consists of three lighthouses 2.0 base stations and a |
|
SteamVR session providing tracking data through the OpenVR API to Monado. While |
|
not as precise as other MoCap tracking systems like OptiTrack or Vicon it |
|
should still provide pretty good accuracy and precision close to the 1mm range. |
|
There are different attempts at studying the accuracy of SteamVR tracking that |
|
you can check out like |
|
[this](https://dl.acm.org/doi/pdf/10.1145/3463914.3463921), |
|
[this](https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7956487/pdf/sensors-21-01622.pdf), |
|
or [this](http://doc-ok.org/?p=1478). When a tracking system gets closer to |
|
millimeter accuracy these datasets will no longer be as useful for improving it. |
|
|
|
The raw ground truth data is stored in `gt/data.raw.csv`. OpenVR does not provide |
|
timestamps and as such, the timestamps recorded are from when the host asks |
|
OpenVR for the latest pose with a call to |
|
[`GetDeviceToAbsoluteTrackingPose`](https://github.com/ValveSoftware/openvr/wiki/IVRSystem::GetDeviceToAbsoluteTrackingPose). |
|
The poses contained in this file are not of the IMU but of the headset origin as |
|
interpreted by SteamVR, which usually is between the middle of the eyes and |
|
facing towards the displays. The file `gt/data.csv` corrects each entry of the |
|
previous file with timestamps aligned with the IMU clock and poses of the IMU |
|
instead of this headset origin. |
|
|
|
#### Calibration |
|
|
|
There are multiple calibration datasets in the |
|
[`MIC_calibration`](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIC_calibration) |
|
directory. There are camera-focused and IMU-focused calibration datasets. See |
|
the |
|
[README.md](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/README.md) |
|
file in there for more information on what each sequence is. |
|
|
|
In the |
|
[`MI_valve_index/extras`](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/extras) |
|
directory you can find the following files: |
|
|
|
- [`calibration.json`](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/extras/calibration.json): |
|
Calibration file produced with the |
|
[`basalt_calibrate_imu`](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md?ref_type=heads#camera-imu-mocap-calibration) |
|
tool from |
|
[`MIC01_camcalib1`](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC01_camcalib1.zip) |
|
and |
|
[`MIC04_imucalib1`](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC04_imucalib1.zip) |
|
datasets with camera-IMU time offset and IMU bias/misalignment info removed so |
|
that it works with the fully the all the datasets by default which are fully |
|
post-processed and don't require those fields. |
|
- [`calibration.extra.json`](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/extras/calibration.extra.json): |
|
Same as `calibration.json` but with the cam-IMU time offset and IMU bias and |
|
misalignment information filled in. |
|
- [`factory.json`](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/extras/factory.json): |
|
JSON file exposed by the headset's firmware with information of the device. It |
|
includes camera and display calibration as well as more data that might be of |
|
interest. It is not used but included for completeness' sake. |
|
- [`other_calibrations/`](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/extras/other_calibrations): |
|
Calibration results obtained from the other calibration datasets. Shown for |
|
comparison and ensuring that all of them have similar values. |
|
`MICXX_camcalibY` has camera-only calibration produced with the |
|
[`basalt_calibrate`](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md?ref_type=heads#camera-calibration) |
|
tool, while the corresponding `MICXX_imucalibY` datasets use these datasets as |
|
a starting point and have the `basalt_calibrate_imu` calibration results. |
|
|
|
##### Camera model |
|
|
|
By default, the `calibration.json` file provides parameters `k1`, `k2`, `k3`, |
|
and `k4` for the [Kannala-Brandt camera |
|
model](https://vladyslavusenko.gitlab.io/basalt-headers/classbasalt_1_1KannalaBrandtCamera4.html#a423a4f1255e9971fe298dc6372345681) |
|
with fish-eye distortion (also known as [OpenCV's |
|
fish-eye](https://docs.opencv.org/3.4/db/d58/group__calib3d__fisheye.html#details)). |
|
|
|
Calibrations with other camera models might be added later on, otherwise, you |
|
can use the calibration sequences for custom calibrations. |
|
|
|
##### IMU model |
|
|
|
For the default `calibration.json` where all parameters are zero, you can ignore |
|
any model and just use the measurements present in `imu0/data.csv` directly. If |
|
instead, you want to use the raw measurements from `imu0/data.raw.csv` you will |
|
need to apply the Basalt |
|
[accelerometer](https://vladyslavusenko.gitlab.io/basalt-headers/classbasalt_1_1CalibAccelBias.html#details) |
|
and |
|
[gyroscope](https://vladyslavusenko.gitlab.io/basalt-headers/classbasalt_1_1CalibGyroBias.html#details) |
|
models that use a misalignment-scale correction matrix together with a constant |
|
initial bias. The random walk and white noise parameters were not computed and |
|
default reasonable values are used instead. |
|
|
|
#### Post-processing walkthrough |
|
|
|
If you are interested in understanding the step-by-step procedure of |
|
post-processing of the dataset, below is a video detailing the procedure for the |
|
[MIPB08] dataset. |
|
|
|
[](https://www.youtube.com/watch?v=0PX_6PNwrvQ) |
|
|
|
### Sequences |
|
|
|
- [MIC_calibration](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIC_calibration): |
|
Calibration sequences that record |
|
[this](https://drive.google.com/file/d/1DqKWgePodCpAKJCd_Bz-hfiEQOSnn_k0) |
|
calibration target from Kalibr with the squares of the target having sides of |
|
3 cm. Some sequences are focused on camera calibration covering the image |
|
planes of both stereo cameras while others on IMU calibration properly |
|
exciting all six components of the IMU. |
|
- [MIP_playing](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIO_others): |
|
Datasets in which the user is playing a particular VR game on SteamVR while |
|
Monado records the datasets. |
|
- [MIPB_beat_saber](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber): |
|
This contains different songs played at different speeds. The fitbeat song |
|
is one that requires a lot of head movement while [MIPB08] is a long 40min |
|
dataset with many levels played. |
|
- [MIPP_pistol_whip](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip): |
|
This is a shooting and music game, each dataset is a different level/song. |
|
- [MIPT_thrill_of_the_fight](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPT_thrill_of_the_fight): |
|
This is a boxing game. |
|
- [MIO_others](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIO_others): |
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These are other datasets that might be useful, they include play-pretend |
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scenarios in which the user is supposed to be playing some particular game, |
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then there is some inspection and scanning/mapping of the room, some very |
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short and lightweight datasets for quick testing, and some datasets with a lot |
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of movement around the environment. |
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|
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### Evaluation |
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|
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These are the results of running the |
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[current](https://gitlab.freedesktop.org/mateosss/basalt/-/commits/release-b67fa7a4?ref_type=tags) |
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Monado tracker that is based on |
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[Basalt](https://gitlab.com/VladyslavUsenko/basalt) on the dataset sequences. |
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|
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| Seq. | Avg. time\* | Avg. feature count | ATE (m) | RTE 100ms (m) \*\* | SDM 0.01m (m/m) \*\*\* | |
|
| :------ | :--------------- | :-------------------- | :---------------- | :---------------------- | :--------------------- | |
|
| MIC01 | 12.24 ± 2.84 | [48 6] ± [72 6] | 0.076 ± 0.049 | 0.016551 ± 0.015004 | 0.7407 ± 0.5757 | |
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| MIC02 | 12.30 ± 2.60 | [33 7] ± [54 11] | 0.043 ± 0.028 | 0.012375 ± 0.011230 | 0.5788 ± 0.4279 | |
|
| MIC03 | 15.89 ± 8.55 | [60 8] ± [107 13] | 0.048 ± 0.032 | 0.011344 ± 0.009992 | 0.6020 ± 0.3987 | |
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| MIC04 | 15.26 ± 2.84 | [65 9] ± [54 11] | 0.028 ± 0.016 | 0.005458 ± 0.003976 | 0.2808 ± 0.2033 | |
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| MIC05 | 16.10 ± 2.82 | [73 5] ± [69 6] | 0.023 ± 0.013 | 0.004795 ± 0.003358 | 0.2547 ± 0.1611 | |
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| MIC06 | 14.14 ± 2.42 | [40 7] ± [53 10] | 0.015 ± 0.005 | 0.003947 ± 0.003454 | 0.2875 ± 0.2542 | |
|
| MIC07 | 13.42 ± 2.63 | [46 9] ± [64 12] | 0.036 ± 0.014 | 0.012776 ± 0.011853 | 0.5520 ± 0.3463 | |
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| MIC08 | 13.89 ± 2.86 | [53 5] ± [62 5] | 0.082 ± 0.062 | 0.022429 ± 0.020956 | 0.8559 ± 0.6402 | |
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| MIC09 | 12.73 ± 2.52 | [63 21] ± [37 12] | 0.008 ± 0.003 | 0.001492 ± 0.001318 | 0.2388 ± 0.3589 | |
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| MIC10 | 14.49 ± 2.51 | [50 5] ± [51 5] | 0.019 ± 0.012 | 0.003783 ± 0.003116 | 0.2666 ± 0.3451 | |
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| MIC11 | 13.72 ± 2.37 | [26 6] ± [39 7] | 0.017 ± 0.010 | 0.009898 ± 0.009069 | 0.4331 ± 0.3278 | |
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| MIC12 | 14.92 ± 2.56 | [38 4] ± [48 5] | 0.024 ± 0.010 | 0.005816 ± 0.004644 | 0.2932 ± 0.2500 | |
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| MIC13 | 13.99 ± 3.07 | [53 10] ± [79 15] | 0.029 ± 0.021 | 0.015463 ± 0.014354 | 0.8668 ± 0.9353 | |
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| MIC14 | 13.67 ± 2.39 | [24 5] ± [36 8] | 0.047 ± 0.012 | 0.007224 ± 0.006359 | 0.4577 ± 0.3446 | |
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| MIC15 | 14.17 ± 2.81 | [76 17] ± [43 9] | 0.016 ± 0.013 | 0.003837 ± 0.003543 | 0.2593 ± 0.1936 | |
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| MIC16 | 14.27 ± 2.43 | [48 8] ± [44 6] | 0.008 ± 0.005 | 0.003867 ± 0.003725 | 0.5167 ± 0.4840 | |
|
| MIO01 | 10.04 ± 1.43 | [36 23] ± [28 18] | 0.605 ± 0.342 | 0.035671 ± 0.033611 | 0.4246 ± 0.5161 | |
|
| MIO02 | 10.41 ± 1.48 | [32 18] ± [25 16] | 1.182 ± 0.623 | 0.063340 ± 0.059176 | 0.4681 ± 0.4329 | |
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| MIO03 | 10.24 ± 1.37 | [47 26] ± [26 16] | 0.087 ± 0.033 | 0.006293 ± 0.004259 | 0.2113 ± 0.2649 | |
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| MIO04 | 9.47 ± 1.08 | [27 16] ± [25 16] | 0.210 ± 0.100 | 0.013121 ± 0.010350 | 0.3086 ± 0.3715 | |
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| MIO05 | 9.95 ± 1.01 | [66 34] ± [33 21] | 0.040 ± 0.016 | 0.003188 ± 0.002192 | 0.1079 ± 0.1521 | |
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| MIO06 | 9.65 ± 1.06 | [44 28] ± [33 22] | 0.049 ± 0.019 | 0.010454 ± 0.008578 | 0.2620 ± 0.3684 | |
|
| MIO07 | 9.63 ± 1.16 | [46 26] ± [30 19] | 0.019 ± 0.008 | 0.002442 ± 0.001355 | 0.0738 ± 0.0603 | |
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| MIO08 | 9.74 ± 0.87 | [29 22] ± [18 16] | 0.059 ± 0.021 | 0.007167 ± 0.004657 | 0.1644 ± 0.3433 | |
|
| MIO09 | 9.94 ± 0.72 | [44 29] ± [14 8] | 0.006 ± 0.003 | 0.002940 ± 0.002024 | 0.0330 ± 0.0069 | |
|
| MIO10 | 9.48 ± 0.82 | [35 21] ± [18 10] | 0.016 ± 0.009 | 0.004623 ± 0.003310 | 0.0620 ± 0.0340 | |
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| MIO11 | 9.34 ± 0.79 | [32 20] ± [19 10] | 0.024 ± 0.010 | 0.007255 ± 0.004821 | 0.0854 ± 0.0540 | |
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| MIO12 | 11.05 ± 2.20 | [43 23] ± [31 19] | 0.420 ± 0.160 | 0.005298 ± 0.003603 | 0.1546 ± 0.2641 | |
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| MIO13 | 10.47 ± 1.89 | [35 21] ± [24 18] | 0.665 ± 0.290 | 0.026294 ± 0.022790 | 1.0180 ± 1.0126 | |
|
| MIO14 | 9.27 ± 1.03 | [49 31] ± [30 21] | 0.072 ± 0.028 | 0.002779 ± 0.002487 | 0.1657 ± 0.2409 | |
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| MIO15 | 9.75 ± 1.16 | [52 26] ± [29 16] | 0.788 ± 0.399 | 0.011558 ± 0.010541 | 0.6906 ± 0.6876 | |
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| MIO16 | 9.72 ± 1.26 | [33 17] ± [25 15] | 0.517 ± 0.135 | 0.013268 ± 0.011355 | 0.4397 ± 0.7167 | |
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| MIPB01 | 10.28 ± 1.25 | [63 46] ± [34 24] | 0.282 ± 0.109 | 0.006797 ± 0.004551 | 0.1401 ± 0.1229 | |
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| MIPB02 | 9.88 ± 1.08 | [55 37] ± [30 20] | 0.247 ± 0.097 | 0.005065 ± 0.003514 | 0.1358 ± 0.1389 | |
|
| MIPB03 | 10.21 ± 1.12 | [66 44] ± [32 23] | 0.186 ± 0.103 | 0.005938 ± 0.004261 | 0.1978 ± 0.3590 | |
|
| MIPB04 | 9.58 ± 1.02 | [51 37] ± [24 17] | 0.105 ± 0.060 | 0.004822 ± 0.003428 | 0.0652 ± 0.0555 | |
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| MIPB05 | 9.97 ± 0.97 | [73 48] ± [32 23] | 0.039 ± 0.017 | 0.004426 ± 0.002828 | 0.0826 ± 0.1313 | |
|
| MIPB06 | 9.95 ± 0.85 | [58 35] ± [32 21] | 0.050 ± 0.022 | 0.004164 ± 0.002638 | 0.0549 ± 0.0720 | |
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| MIPB07 | 10.07 ± 1.00 | [73 47] ± [31 20] | 0.064 ± 0.038 | 0.004984 ± 0.003170 | 0.0785 ± 0.1411 | |
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| MIPB08 | 9.97 ± 1.08 | [71 47] ± [36 24] | 0.636 ± 0.272 | 0.004066 ± 0.002556 | 0.0740 ± 0.0897 | |
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| MIPP01 | 10.03 ± 1.21 | [36 22] ± [21 15] | 0.559 ± 0.241 | 0.009227 ± 0.007765 | 0.3472 ± 0.9075 | |
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| MIPP02 | 10.19 ± 1.20 | [42 22] ± [22 15] | 0.257 ± 0.083 | 0.011046 ± 0.010201 | 0.5014 ± 0.7665 | |
|
| MIPP03 | 10.13 ± 1.24 | [37 20] ± [23 15] | 0.260 ± 0.101 | 0.008636 ± 0.007166 | 0.3205 ± 0.5786 | |
|
| MIPP04 | 9.74 ± 1.09 | [38 23] ± [22 16] | 0.256 ± 0.144 | 0.007847 ± 0.006743 | 0.2586 ± 0.4557 | |
|
| MIPP05 | 9.71 ± 0.84 | [37 24] ± [21 15] | 0.193 ± 0.086 | 0.005606 ± 0.004400 | 0.1670 ± 0.2398 | |
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| MIPP06 | 9.92 ± 3.11 | [37 21] ± [21 14] | 0.294 ± 0.136 | 0.009794 ± 0.008873 | 0.4016 ± 0.5648 | |
|
| MIPT01 | 10.78 ± 2.06 | [68 44] ± [33 23] | 0.108 ± 0.060 | 0.003995 ± 0.002716 | 0.7109 ± 13.3461 | |
|
| MIPT02 | 10.85 ± 1.27 | [79 54] ± [39 28] | 0.198 ± 0.109 | 0.003709 ± 0.002348 | 0.0839 ± 0.1175 | |
|
| MIPT03 | 10.80 ± 1.55 | [76 52] ± [42 30] | 0.401 ± 0.206 | 0.005623 ± 0.003694 | 0.1363 ± 0.1789 | |
|
| **AVG** | **11.33 ± 1.83** | **[49 23] ± [37 15]** | **0.192 ± 0.090** | **0.009439 ± 0.007998** | **0.3247 ± 0.6130** | |
|
|
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- \*: Average frame time. On an AMD Ryzen 7 5800X CPU. Run with pipeline fully |
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saturated. Real time operation frame times should be slightly lower. |
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- \*\*: RTE using delta of 6 frames (11ms) |
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- \*\*\*: The SDM metric is similar to RTE, it represents distance in meters |
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drifted for each meter of the dataset. The metric is implemented in the |
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[xrtslam-metrics](https://gitlab.freedesktop.org/mateosss/xrtslam-metrics) |
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project. |
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|
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## License |
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|
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This work is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by/4.0/">Creative Commons Attribution 4.0 International License</a>. |
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<a rel="license" href="http://creativecommons.org/licenses/by/4.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by/4.0/88x31.png" /></a> |
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|
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[post-processing-video]: https://youtu.be/0PX_6PNwrvQ |
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[MIPB08]: https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber |
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