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license: cc-by-4.0 |
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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 for improving 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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https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC01_camcalib1.webm |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC01_camcalib1.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC02_camcalib2.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC03_camcalib3.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC04_imucalib1.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC05_imucalib2.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC06_imucalib3.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC07_camcalib4.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC08_camcalib5.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC09_imucalib4.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC10_imucalib5.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC11_camcalib6.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC12_imucalib6.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC13_camcalib7.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC14_camcalib8.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC15_imucalib7.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC16_imucalib8.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO01_hand_puncher_1.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO02_hand_puncher_2.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO03_hand_shooter_easy.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO04_hand_shooter_hard.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO05_inspect_easy.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO06_inspect_hard.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO07_mapping_easy.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO08_mapping_hard.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO09_short_1_updown.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO10_short_2_panorama.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO11_short_3_backandforth.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO12_moving_screens.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO13_moving_person.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO14_moving_props.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO15_moving_person_props.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIO16_moving_screens_person_props.webm). |
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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_sabet](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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB01_beatsaber_100bills_360_normal.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB02_beatsaber_crabrave_360_hard.webm). |
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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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB03_beatsaber_countryrounds_360_expert.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB04_beatsaber_fitbeat_hard.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB05_beatsaber_fitbeat_360_expert.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB06_beatsaber_fitbeat_expertplus_1.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB07_beatsaber_fitbeat_expertplus_2.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPB08_beatsaber_long_session_1.webm). |
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- [MIPP_pistol_whip](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip) |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP01_pistolwhip_blackmagic_hard.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP02_pistolwhip_lilith_hard.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP03_pistolwhip_requiem_hard.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP04_pistolwhip_revelations_hard.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP05_pistolwhip_thefall_hard_2pistols.webm). |
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- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPP06_pistolwhip_thegrave_hard.webm). |
|
- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPT01_thrillofthefight_setup.webm). |
|
- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPT02_thrillofthefight_fight_1.webm). |
|
- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIPT03_thrillofthefight_fight_2.webm). |
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|
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## Valve Index datasets |
|
|
|
These datasets were recorded using a Valve Index with the `vive` driver in |
|
Monado and they have groundtruth 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 realtime timestamp alignment techniques. |
|
|
|
The dataset is postprocessed to reduce as much as possible special treatment |
|
from SLAM systems: camera-IMU and groundtruth-IMU timestamp alignment, IMU |
|
alignment and bias calibration has 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 postprocessing process is documented in [this |
|
video][postprocessing-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 the their V4L2 timestamps. The `camX/data.csv` file |
|
contains aligned timestamp 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 are global shutter with a resolution of 960x960 |
|
streaming at 54fps. They have autoexposure 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 postprocessing walkthrough |
|
[video][postprocessing-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 nor 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 on real-time. |
|
|
|
#### Groundtruth information |
|
|
|
The groundtruth 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 a 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 checkout 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 |
|
milimiter accuracy these datasets will no longer be as useful for improving it. |
|
|
|
The raw groundtruth 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 |
|
there](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/README.md) |
|
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 |
|
postprocessed 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 exposed by the headset used for recording with information from factory |
|
that include calibration and other data. It's not used for anything but might |
|
be of interest. |
|
- [`other_calibrations/`](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/extras/other_calibrations): |
|
Results from calibrating using the other datasets for comparisson and checking |
|
most of them are similar. `MICXX_camcalibY` have 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 uses 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 |
|
postprocessing 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 recording |
|
[this](https://drive.google.com/file/d/1DqKWgePodCpAKJCd_Bz-hfiEQOSnn_k0) |
|
calibration target from Kalibr with the squares of the target having sides of |
|
3cm. Some sequeneces 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): These are other |
|
datasets that might be useful, they include playpretend scenarios in which |
|
the user supposed to be playing some particular game, then there is some |
|
inspection and scanning/mapping of the room, some very short and |
|
lightweight datasets for quick testing, and some datasets with a lot of |
|
movement around the environment. |
|
|
|
## License |
|
|
|
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>. |
|
<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> |
|
|
|
[postprocessing-video]: https://youtu.be/0PX_6PNwrvQ |
|
[MIPB08]: https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber |
|
|
