diff --git "a/README.md" "b/README.md" --- "a/README.md" +++ "b/README.md" @@ -4,10 +4,10 @@ license: cc-by-4.0 Monado SLAM Datasets cover image +style="width: 720px;margin: auto;"> - - The [Monado SLAM datasets (MSD)](https://huggingface.co/datasets/collabora/monado-slam-datasets), are -egocentric visual-inertial SLAM datasets recorded to improve the -[Basalt](https://gitlab.com/VladyslavUsenko/basalt)-based inside-out tracking -component of the [Monado](https://monado.dev) project. These have a permissive -license [CC-BY 4.0](http://creativecommons.org/licenses/by/4.0/), meaning you -can use them for any purpose you want, including commercial, and only a mention -of the original project is required. The creation of these datasets was -supported by [Collabora](https://collabora.com) +challenging egocentric visual-inertial (VI) datasets recorded from VR headsets +to improve state-of-the-art VI-SLAM systems. They were originally developed to +improve the open-source inside-out tracking component of the +[Monado](https://monado.dev) project but its applicability is not limited to the +XR field. The dataset has a permissive license [CC-BY +4.0](http://creativecommons.org/licenses/by/4.0/), meaning you can use them for +any purpose you want, and only a mention of the original project is required. +The creation of the dataset was supported by [Collabora](https://collabora.com). +Further work for publication was done in the [Computer Vision +Group](https://cvg.cit.tum.de/) from the Technical University of Munich. Monado is an open-source OpenXR runtime that you can use to make devices OpenXR compatible. It also provides drivers for different existing hardware thanks to -different contributors in the community creating drivers for it. Monado provides -different XR-related modules that these drivers can use. To be more specific, -inside-out head tracking is one of those modules and, while you can use -different tracking systems, the main system is a [fork of -Basalt](https://gitlab.freedesktop.org/mateosss/basalt). Creating a good -open-source tracking solution requires a solid measurement pipeline to -understand how changes in the system affect tracking quality. For this reason, -the creation of these datasets was essential. - -These datasets are very specific to the XR use case as they contain VI-SLAM -footage recorded from devices such as VR headsets, but other devices like phones -or AR glasses might be added in the future. These were made since current SLAM -datasets like EuRoC or TUM-VI were not specific enough for XR, or they didn't -have permissively enough usage licenses. - -For questions or comments, you can use the Hugging Face -[Community](https://huggingface.co/datasets/collabora/monado-slam-datasets/discussions), -join Monado's discord [server](https://discord.gg/8RkJgRJ) and ask in the -`#slam` channel, or send an email to . - -## List of sequences - -- [MI_valve_index](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index) - - [MIC_calibration](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIC_calibration) - - [MIC01_camcalib1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/MIC_calibration/MIC01_camcalib1.zip):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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- - [MIO_others](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIO_others) - - [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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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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):
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- - [MIP_playing](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing) - - [MIPB_beat_saber](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber) - - [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):
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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):
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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):
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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):
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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):
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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):
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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):
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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/):
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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) - - [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):
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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):
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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):
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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):
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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):
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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):
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- - [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):
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- - [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):
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- - [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):
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-- [MG_reverb_g2](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MG_reverb_g2) - - [MGC_calibration](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MG_reverb_g2/MGC_calibration) - - [MGC01_camcalib01_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC01_camcalib01_1.zip):
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- - [MGC02_camcalib02_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC02_camcalib02_1.zip):
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- - [MGC03_camcalib13_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC03_camcalib13_1.zip):
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- - [MGC04_imucalib01_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC04_imucalib01_1.zip):
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- - [MGC05_imucalib02_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC05_imucalib02_1.zip):
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- - [MGC06_imucalib13_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC06_imucalib13_1.zip):
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- - [MGC07_magcalib_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC07_magcalib_1.zip):
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- - [MGC08_camcalib01_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC08_camcalib01_2.zip):
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- - [MGC09_camcalib02_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC09_camcalib02_2.zip):
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- - [MGC10_camcalib13_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC10_camcalib13_2.zip):
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- - [MGC11_imucalib01_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC11_imucalib01_2.zip):
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- - [MGC12_imucalib02_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC12_imucalib02_2.zip):
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- - [MGC13_imucalib13_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC13_imucalib13_2.zip):
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- - [MGC14_magcalib_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC14_magcalib_2.zip):
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- - [MGC15_camcalib01_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC15_camcalib01_3.zip):
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- - [MGC16_camcalib02_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC16_camcalib02_3.zip):
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- - [MGC17_camcalib13_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC17_camcalib13_3.zip):
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- - [MGC18_imucalib01_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC18_imucalib01_3.zip):
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- - [MGC19_imucalib02_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC19_imucalib02_3.zip):
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- - [MGC20_imucalib13_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC20_imucalib13_3.zip):
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- - [MGC21_magcalib_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC21_magcalib_3.zip):
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- - [MGC22_camcalib01_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC22_camcalib01_4.zip):
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- - [MGC23_camcalib02_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC23_camcalib02_4.zip):
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- - [MGC24_camcalib13_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC24_camcalib13_4.zip):
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- - [MGC25_imucalib01_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC25_imucalib01_4.zip):
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- - [MGC26_imucalib02_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC26_imucalib02_4.zip):
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- - [MGC27_imucalib13_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC27_imucalib13_4.zip):
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- - [MGC28_magcalib_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC28_magcalib_4.zip):
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- - [MGO_others](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MG_reverb_g2/MGO_others) - - [MGO01_low_light](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO01_low_light.zip):
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- - [MGO02_hand_puncher](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO02_hand_puncher.zip):
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- - [MGO03_hand_shooter_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO03_hand_shooter_easy.zip):
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- - [MGO04_hand_shooter_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO04_hand_shooter_hard.zip):
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- - [MGO05_inspect_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO05_inspect_easy.zip):
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- - [MGO06_inspect_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO06_inspect_hard.zip):
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- - [MGO07_mapping_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO07_mapping_easy.zip):
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- - [MGO08_mapping_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO08_mapping_hard.zip):
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- - [MGO09_short_1_updown](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO09_short_1_updown.zip):
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- - [MGO10_short_2_panorama](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO10_short_2_panorama.zip):
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- - [MGO11_short_3_backandforth](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO11_short_3_backandforth.zip):
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- - [MGO12_freemovement_long_session](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others):
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- - [MGO13_sudden_movements](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO13_sudden_movements.zip):
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- - [MGO14_flickering_light](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO14_flickering_light.zip):
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- - [MGO15_seated_screen](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO15_seated_screen.zip):
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-- [MOC_calibration](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MO_odyssey_plus/MOC_calibration) - - [MOC01_camcalib_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC01_camcalib_1.zip):
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- - [MOC02_imucalib_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC02_imucalib_1.zip):
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- - [MOC03_magcalib_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC03_magcalib_1.zip):
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- - [MOC04_camcalib_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC04_camcalib_2.zip):
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- - [MOC05_imucalib_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC05_imucalib_2.zip):
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- - [MOC06_magcalib_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC06_magcalib_2.zip):
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- - [MOC07_camcalib_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC07_camcalib_3.zip):
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- - [MOC08_imucalib_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC08_imucalib_3.zip):
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- - [MOC09_magcalib_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC09_magcalib_3.zip):
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- - [MOC10_camcalib_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC10_camcalib_4.zip):
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- - [MOC11_imucalib_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC11_imucalib_4.zip):
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- - [MOC12_magcalib_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC12_magcalib_4.zip):
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- - [MOC13_imustatic](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC13_imustatic.zip):
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-- [MOO_others](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MO_odyssey_plus/MOO_others) - - [MOO01_hand_puncher_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO01_hand_puncher_1.zip):
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- - [MOO02_hand_puncher_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO02_hand_puncher_2.zip):
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- - [MOO03_hand_shooter_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO03_hand_shooter_easy.zip):
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- - [MOO04_hand_shooter_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO04_hand_shooter_hard.zip):
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- - [MOO05_inspect_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO05_inspect_easy.zip):
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- - [MOO06_inspect_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO06_inspect_hard.zip):
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- - [MOO07_mapping_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO07_mapping_easy.zip):
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- - [MOO08_mapping_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO08_mapping_hard.zip):
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- - [MOO09_short_1_updown](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO09_short_1_updown.zip):
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- - [MOO10_short_2_panorama](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO10_short_2_panorama.zip):
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- - [MOO11_short_3_backandforth](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO11_short_3_backandforth.zip):
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- - [MOO12_freemovement_long_session](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/):
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- - [MOO13_sudden_movements](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO13_sudden_movements.zip):
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- - [MOO14_flickering_light](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO14_flickering_light.zip):
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- - [MOO15_seated_screen](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO15_seated_screen.zip):
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- - [MOO16_still](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO16_still.zip):
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- -## 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. - -[![Post-processing walkthrough video](https://img.youtube.com/vi/0PX_6PNwrvQ/0.jpg)](https://www.youtube.com/watch?v=0PX_6PNwrvQ) +contributors in the community creating drivers for it. Monado provides useful +modules that these drivers can use, including an inside-out head tracking +component. While it allows to use different tracking systems, the preferred +system is a [fork](https://gitlab.freedesktop.org/mateosss/basalt) of +[Basalt](https://gitlab.com/VladyslavUsenko/basalt). Creating a good tracking +solution requires a solid measurement pipeline to understand how changes in the +system affect tracking quality. This dataset is published to support this +purpose, and in the process, highlights problems with state-of-the-art real-time +VI tracking systems that extend beyond the XR use case, especially in humanoid +robotics. + +For questions or comments, the preferred way is to use the Hugging Face +[community discussions](https://huggingface.co/datasets/collabora/monado-slam-datasets/discussions) +tab. You might also join Monado's [Discord server](https://discord.gg/8RkJgRJ) +and ask in the `#slam` channel. + +For additional documentation see: + +- [**Valve Index documentation**](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MI_valve_index/README.md) +- [**HP Reverb G2 documentation**](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/README.md) +- [**Samsung Odyssey+ documentation**](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/README.md) +- [**Post-processing walkthrough video**](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): - These are other datasets that might be useful, they include play-pretend - scenarios in which the user is 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. - -### Evaluation - -These are the results of running the -[current](https://gitlab.freedesktop.org/mateosss/basalt/-/commits/release-b67fa7a4?ref_type=tags) -Monado tracker that is based on -[Basalt](https://gitlab.com/VladyslavUsenko/basalt) on the dataset sequences. - -| Seq. | Avg. time\* | Avg. feature count | ATE (m) | RTE 100ms (m) \*\* | SDM 0.01m (m/m) \*\*\* | -| :------ | :--------------- | :-------------------- | :---------------- | :---------------------- | :--------------------- | -| 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 | -| MIO03 | 10.24 ± 1.37 | [47 26] ± [26 16] | 0.087 ± 0.033 | 0.006293 ± 0.004259 | 0.2113 ± 0.2649 | -| MIO04 | 9.47 ± 1.08 | [27 16] ± [25 16] | 0.210 ± 0.100 | 0.013121 ± 0.010350 | 0.3086 ± 0.3715 | -| MIO05 | 9.95 ± 1.01 | [66 34] ± [33 21] | 0.040 ± 0.016 | 0.003188 ± 0.002192 | 0.1079 ± 0.1521 | -| 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 | -| 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 | -| MIO11 | 9.34 ± 0.79 | [32 20] ± [19 10] | 0.024 ± 0.010 | 0.007255 ± 0.004821 | 0.0854 ± 0.0540 | -| MIO12 | 11.05 ± 2.20 | [43 23] ± [31 19] | 0.420 ± 0.160 | 0.005298 ± 0.003603 | 0.1546 ± 0.2641 | -| 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 | -| MIO15 | 9.75 ± 1.16 | [52 26] ± [29 16] | 0.788 ± 0.399 | 0.011558 ± 0.010541 | 0.6906 ± 0.6876 | -| MIO16 | 9.72 ± 1.26 | [33 17] ± [25 15] | 0.517 ± 0.135 | 0.013268 ± 0.011355 | 0.4397 ± 0.7167 | -| MIPB01 | 10.28 ± 1.25 | [63 46] ± [34 24] | 0.282 ± 0.109 | 0.006797 ± 0.004551 | 0.1401 ± 0.1229 | -| 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 | -| 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 | -| MIPB07 | 10.07 ± 1.00 | [73 47] ± [31 20] | 0.064 ± 0.038 | 0.004984 ± 0.003170 | 0.0785 ± 0.1411 | -| MIPB08 | 9.97 ± 1.08 | [71 47] ± [36 24] | 0.636 ± 0.272 | 0.004066 ± 0.002556 | 0.0740 ± 0.0897 | -| MIPP01 | 10.03 ± 1.21 | [36 22] ± [21 15] | 0.559 ± 0.241 | 0.009227 ± 0.007765 | 0.3472 ± 0.9075 | -| 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 | -| 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** | - -| Seq. | Avg. time\* | Avg. feature count | ATE (m) | RTE 100ms (m) \*\* | SDM 0.01m (m/m) \*\*\* | -| :------ | :--------------- | :-------------------- | :---------------- | :---------------------- | :--------------------- | -| MGO01 | 12.06 ± 2.10 | [19 16] ± [13 12] | 0.680 ± 0.249 | 0.022959 ± 0.019026 | 0.3604 ± 1.3031 | -| MGO02 | 11.20 ± 1.83 | [19 15] ± [19 16] | 0.556 ± 0.241 | 0.027931 ± 0.019074 | 0.3218 ± 0.4599 | -| MGO03 | 9.88 ± 1.92 | [22 16] ± [16 16] | 0.145 ± 0.041 | 0.013003 ± 0.008555 | 0.2433 ± 0.3512 | -| MGO04 | 9.43 ± 1.45 | [16 14] ± [16 16] | 0.261 ± 0.113 | 0.024674 ± 0.017380 | 0.3609 ± 0.4829 | -| MGO05 | 9.93 ± 1.71 | [39 40] ± [17 26] | 0.030 ± 0.011 | 0.004212 ± 0.002632 | 0.0621 ± 0.1044 | -| MGO06 | 10.40 ± 1.84 | [24 22] ± [18 18] | 0.111 ± 0.038 | 0.018013 ± 0.011398 | 0.2496 ± 0.2802 | -| MGO07 | 9.74 ± 1.54 | [30 24] ± [13 12] | 0.021 ± 0.010 | 0.005628 ± 0.003707 | 0.0992 ± 0.1538 | -| MGO08 | 9.42 ± 1.43 | [17 13] ± [11 8] | 0.027 ± 0.015 | 0.013162 ± 0.009729 | 0.1667 ± 0.4068 | -| MGO09 | 10.90 ± 1.70 | [39 34] ± [11 9] | 0.008 ± 0.004 | 0.006278 ± 0.004054 | 0.0738 ± 0.0492 | -| MGO10 | 9.31 ± 1.36 | [29 37] ± [14 17] | 0.008 ± 0.003 | 0.003496 ± 0.002333 | 0.0439 ± 0.0311 | -| MGO11 | 9.26 ± 1.08 | [30 22] ± [13 17] | 0.017 ± 0.006 | 0.006065 ± 0.004285 | 0.0687 ± 0.0604 | -| MGO12 | 9.33 ± 1.39 | [20 19] ± [17 19] | 0.610 ± 0.270 | 0.017372 ± 0.016246 | 0.7225 ± 10.7366 | -| MGO13 | 10.08 ± 1.98 | [18 17] ± [16 17] | 0.683 ± 0.211 | 0.025764 ± 0.017900 | 0.2542 ± 0.3324 | -| MGO14 | 10.00 ± 1.83 | [29 25] ± [17 21] | 0.070 ± 0.025 | 0.012013 ± 0.007674 | 0.1417 ± 0.1850 | -| MGO15 | 9.07 ± 1.39 | [9 7] ± [10 7] | 0.037 ± 0.016 | 0.003737 ± 0.003425 | 0.7053 ± 4.3405 | -| **AVG** | **10.00 ± 1.64** | **[24 21] ± [15 15]** | **0.218 ± 0.084** | **0.013620 ± 0.009828** | **0.2583 ± 1.2852** | - -| Seq. | Avg. time\* | Avg. feature count | ATE (m) | RTE 100ms (m) \*\* | SDM 0.01m (m/m) \*\*\* | -| :------ | :--------------- | :-------------------- | :---------------- | :---------------------- | :--------------------- | -| MOO01 | 7.58 ± 1.55 | [30 23] ± [21 20] | 0.281 ± 0.131 | 0.016662 ± 0.010451 | 0.2358 ± 0.3848 | -| MOO02 | 6.89 ± 1.65 | [27 21] ± [24 25] | 0.237 ± 0.101 | 0.015469 ± 0.009201 | 0.1710 ± 0.2281 | -| MOO03 | 7.33 ± 1.77 | [30 26] ± [21 24] | 0.177 ± 0.088 | 0.013521 ± 0.009276 | 0.2610 ± 0.6376 | -| MOO04 | 6.11 ± 1.35 | [22 14] ± [20 16] | 0.065 ± 0.026 | 0.009849 ± 0.005401 | 0.0889 ± 0.1166 | -| MOO05 | 7.04 ± 1.54 | [53 46] ± [20 30] | 0.018 ± 0.007 | 0.003070 ± 0.001838 | 0.0284 ± 0.0181 | -| MOO06 | 6.66 ± 1.58 | [38 35] ± [21 27] | 0.056 ± 0.028 | 0.008395 ± 0.005154 | 0.0847 ± 0.1033 | -| MOO07 | 6.38 ± 1.71 | [43 31] ± [16 21] | 0.013 ± 0.006 | 0.003422 ± 0.002073 | 0.0317 ± 0.0326 | -| MOO08 | 7.17 ± 1.65 | [25 19] ± [19 15] | 0.028 ± 0.015 | 0.011164 ± 0.006958 | 0.0939 ± 0.1051 | -| MOO09 | 8.31 ± 1.84 | [43 38] ± [19 17] | 0.004 ± 0.002 | 0.003284 ± 0.002181 | 0.0063 ± 0.0000 | -| MOO10 | 6.94 ± 1.43 | [38 21] ± [18 15] | 0.010 ± 0.005 | 0.003765 ± 0.002338 | 0.0440 ± 0.0232 | -| MOO11 | 6.66 ± 1.57 | [32 32] ± [18 22] | 0.019 ± 0.010 | 0.005102 ± 0.003253 | 0.0433 ± 0.0356 | -| MOO12 | 5.78 ± 1.40 | [32 34] ± [21 26] | 0.694 ± 0.329 | 0.008292 ± 0.007220 | 0.1275 ± 0.2512 | -| MOO13 | 6.12 ± 1.60 | [21 16] ± [22 19] | 0.501 ± 0.188 | 0.017042 ± 0.010342 | 0.1448 ± 0.1551 | -| MOO14 | 7.07 ± 1.32 | [26 19] ± [17 16] | 0.113 ± 0.058 | 0.007743 ± 0.004316 | 0.1130 ± 0.1661 | -| MOO15 | 6.51 ± 1.70 | [20 11] ± [15 6] | 0.629 ± 0.312 | 0.015308 ± 0.014007 | 0.7254 ± 0.3257 | -| MOO16 | 5.21 ± 1.08 | [23 28] ± [6 8] | 0.046 ± 0.022 | 0.001441 ± 0.001238 | 0.1750 ± 0.1788 | -| **AVG** | **6.74 ± 1.55** | **[31 26] ± [19 19]** | **0.181 ± 0.083** | **0.008971 ± 0.005953** | **0.1484 ± 0.1726** | - -- \*: Average frame time. On an AMD Ryzen 7 5800X CPU. Run with pipeline fully - saturated. Real time operation frame times should be slightly lower. -- \*\*: RTE using delta of 6 frames (11ms) -- \*\*\*: The SDM metric is similar to RTE, it represents distance in meters - drifted for each meter of the dataset. The metric is implemented in the - [xrtslam-metrics](https://gitlab.freedesktop.org/mateosss/xrtslam-metrics) - project. +#### Categories + +- [MI_valve_index](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index): Valve Index datasets (2x960x960 @54fps, IMU@1000Hz) + - [MIC_calibration](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIC_calibration): Recordings of [target](https://drive.google.com/file/d/1DqKWgePodCpAKJCd_Bz-hfiEQOSnn_k0) with 3cm sides for camera and IMU calibration. + + + + + + + + + + + + + + + + + - [MIO_others](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIO_others): Miscelaneous datasets including specific challenges. + + + + + + + + + + + + + + + + + - [MIP_playing](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing): Datasets in which the user is playing a game. + - [MIPB_beat_saber](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber): Music game in which the player hits song notes with two swords. + + + + + + + + + - [MIPP_pistol_whip](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip): Music game in which the player uses a pistol to target enemies in sync with the song rythm. + + + + + + + - [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): Boxing simulator. + + + +- [MG_reverb_g2](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MG_reverb_g2): (4x640x480 @30fps, IMU@1000Hz) + - [MGC_calibration](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MG_reverb_g2/MGC_calibration): Same as `MIC`, includes pairwise recordings for each camera pair and magnetometer calibrations. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - [MGO_others](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MG_reverb_g2/MGO_others): Miscelaneous recordings with different challenges. + + + + + + + + + + + + + + + +- [MO_odyssey_plus](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MO_odyssey_plus): (2x640x480 @30fps, IMU@1000Hz) + - [MOC_calibration](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MO_odyssey_plus/MOC_calibration): Same as previous calibration datasets. Includes a long MOC13 dataset for measuring IMU allan variance. + + + + + + + + + + + + + + - [MOO_others](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MO_odyssey_plus/MOO_others): Miscelaneous recordings with different challenges. + + + + + + + + + + + + + + + + + +#### Table of sequences + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
SequenceDownloadPreview
MIO_others: Valve Index miscelaneous sequences
MIO01_hand_puncher_1get
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MIO02_hand_puncher_2get
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MIO03_hand_shooter_easyget
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MIO04_hand_shooter_hardget
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MIO05_inspect_easyget
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MIO06_inspect_hardget
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MIO07_mapping_easyget
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MIO08_mapping_hardget
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MIO09_short_1_updownget
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MIO10_short_2_panoramaget
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MIO11_short_3_backandforthget
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MIO12_moving_screensget
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MIO13_moving_personget
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MIO14_moving_propsget
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MIO15_moving_person_propsget
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MIO16_moving_screens_person_propsget
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MIP_playing: Valve Index gameplay sequences
MIPB01_beatsaber_100bills_360_normalget
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MIPB02_beatsaber_crabrave_360_hardget
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MIPB03_beatsaber_countryrounds_360_expertget
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MIPB04_beatsaber_fitbeat_hardget
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MIPB05_beatsaber_fitbeat_360_expertget
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MIPB06_beatsaber_fitbeat_expertplus_1get
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MIPB07_beatsaber_fitbeat_expertplus_2get
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MIPB08_beatsaber_long_session_1get + 1 + 2 + 3 + 4 +
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MIPP01_pistolwhip_blackmagic_hardget
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MIPP02_pistolwhip_lilith_hardget
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MIPP03_pistolwhip_requiem_hardget
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MIPP04_pistolwhip_revelations_hardget
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MIPP05_pistolwhip_thefall_hard_2pistolsget
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MIPP06_pistolwhip_thegrave_hardget
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MIPT01_thrillofthefight_setupget
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MIPT02_thrillofthefight_fight_1get
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MIPT03_thrillofthefight_fight_2get
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MGO_others: HP Reverb G2 miscelaneous sequences
MGO01_low_lightget
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MGO02_hand_puncherget
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MGO03_hand_shooter_easyget
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MGO04_hand_shooter_hardget
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MGO05_inspect_easyget
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MGO06_inspect_hardget
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MGO07_mapping_easyget
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MGO08_mapping_hardget
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MGO09_short_1_updownget
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MGO10_short_2_panoramaget
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MGO11_short_3_backandforthget
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MGO12_freemovement_long_sessionget + 1 + 2 + 3 +
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MGO13_sudden_movementsget
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MGO14_flickering_lightget
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MGO15_seated_screenget
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MOO_others: Samsung Odyssey+ miscelaneous sequences
MOO01_hand_puncher_1get
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MOO02_hand_puncher_2get
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MOO03_hand_shooter_easyget
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MOO04_hand_shooter_hardget
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MOO05_inspect_easyget
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MOO06_inspect_hardget
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MOO07_mapping_easyget
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MOO08_mapping_hardget
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MOO09_short_1_updownget
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MOO10_short_2_panoramaget
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MOO11_short_3_backandforthget
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MOO12_freemovement_long_session get + 1 + 2 + 3 +
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MOO13_sudden_movementsget
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MOO14_flickering_lightget
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MOO15_seated_screenget
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MOO16_stillget
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+ +#### Table of calibration sequences + +
Click to show calibration sequences + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
SequenceDownloadPreview
MIC_calibration: Valve Index calibration sequences
MIC01_camcalib1get
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MIC02_camcalib2get
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MIC03_camcalib3get
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MIC04_imucalib1get
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MIC05_imucalib2get
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MIC06_imucalib3get
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MIC07_camcalib4get
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MIC08_camcalib5get
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MIC09_imucalib4get
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MIC10_imucalib5get
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MIC11_camcalib6get
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MIC12_imucalib6get
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MIC13_camcalib7get
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MIC14_camcalib8get
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MIC15_imucalib7get
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MIC16_imucalib8get
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MGC_calibration: HP Reverb G2 calibration sequences
MGC01_camcalib01_1get
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MGC02_camcalib02_1get
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MGC03_camcalib13_1get
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MGC04_imucalib01_1get
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MGC05_imucalib02_1get
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MGC06_imucalib13_1get
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MGC07_magcalib_1get
Preview 5x
MGC08_camcalib01_2get
Preview 5x
MGC09_camcalib02_2get
Preview 5x
MGC10_camcalib13_2get
Preview 5x
MGC11_imucalib01_2get
Preview 5x
MGC12_imucalib02_2get
Preview 5x
MGC13_imucalib13_2get
Preview 5x
MGC14_magcalib_2get
Preview 5x
MGC15_camcalib01_3get
Preview 5x
MGC16_camcalib02_3get
Preview 5x
MGC17_camcalib13_3get
Preview 5x
MGC18_imucalib01_3get
Preview 5x
MGC19_imucalib02_3get
Preview 5x
MGC20_imucalib13_3get
Preview 5x
MGC21_magcalib_3get
Preview 5x
MGC22_camcalib01_4get
Preview 5x
MGC23_camcalib02_4get
Preview 5x
MGC24_camcalib13_4get
Preview 5x
MGC25_imucalib01_4get
Preview 5x
MGC26_imucalib02_4get
Preview 5x
MGC27_imucalib13_4get
Preview 5x
MGC28_magcalib_4get
Preview 5x
MOC_calibration: Samsung Odyssey+ calibration sequences
MOC01_camcalib_1get
Preview 5x
MOC02_imucalib_1get
Preview 5x
MOC03_magcalib_1get
Preview 5x
MOC04_camcalib_2get
Preview 5x
MOC05_imucalib_2get
Preview 5x
MOC06_magcalib_2get
Preview 5x
MOC07_camcalib_3get
Preview 5x
MOC08_imucalib_3get
Preview 5x
MOC09_magcalib_3get
Preview 5x
MOC10_camcalib_4get
Preview 5x
MOC11_imucalib_4get
Preview 5x
MOC12_magcalib_4get
Preview 5x
MOC13_imustaticgetNo camera
+ +
## License