---
license: cc-by-4.0
---

# Monado SLAM Datasets

The [Monado SLAM datasets
(MSD)](https://huggingface.co/datasets/collabora/monado-slam-datasets), are
egocentric visual-inertial SLAM datasets recorded for improving 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)

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 <mateo.demayo@collabora.com>.

## List of sequences


https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC01_camcalib1.webm
- [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): [Preview 5x](https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/MIC01_camcalib1.webm).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
  - [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): [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
    - [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).
  - [MIP_playing](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MI_valve_index/MIP_playing)
    - [MIPB_beat_sabet](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): [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).
      - [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).
      - [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).
      - [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).
      - [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).
      - [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).
      - [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).
      - [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).
    - [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): [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).
      - [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).
      - [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).
      - [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).
      - [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).
      - [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).

## 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.

[![Post-processing walkthrough video](https://img.youtube.com/vi/0PX_6PNwrvQ/0.jpg)](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