Handheld, Other
TUM-VIE
Event-based visual-inertial perception
Stereo event and grayscale recordings with inertial data, handheld and head-mounted sports sequences, camera calibration, and partially covering motion-capture poses.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Handheld, Other
- Environment
- Indoor, Outdoor
- Data origin
- Real-world
- Sensor count
- 5
- Ground truth
- Available
- Calibration
- Full Raw Calibration Data
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 6DoF | Motion capture | OptiTrack · Flex13 | Not reported | 120 Hz | Partial · Full Trajectories for Seven Mocap-Prefixed Sequences; Beginning and End Segments for Other Sequences. |
Reference provenance
External
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Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Full Raw Calibration Data
- Processed parameters
- Available
- Raw calibration data
- Available
- Calibration targets
- AprilTag grid
Reproducible calibration data
Raw calibration data is reported, so users can reproduce or inspect the calibration process.
Notes
Daily joint camera intrinsic/extrinsic calibration uses blinking AprilTags and event time surfaces. Static Aprilgrid supports IMU-camera calibration; calib-vignette recordings provide photometric calibration. IMU bias, axis scaling and misalignment calibration are supplied.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Ground-truth poses cover full mocap sequences but only endpoint portions of longer recordings.
Fast rotations, low light and high dynamic range challenge frame-based tracking.
Cameras
stereo_event
- Model
- Prophesee GEN4-CD
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Event
- Resolution
- 1280 x 720
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- 90 deg
- VFOV
- 65 deg
- Notes
- Asynchronous events; one giga-event/s is sensor peak capability, not a periodic recording frequency.
stereo_gray
- Model
- IDS Camera uEye UI-3241LE-M-GL
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Grayscale
- Resolution
- 1024 x 1024
- Rate
- 20 Hz
- Shutter
- Global
- Lens type
- Not Reported
- HFOV
- 101 deg
- VFOV
- 76 deg
- Notes
- Image timestamps correspond to mid-exposure; exposure timing is used for clock alignment.
IMUs
Genuino 101 integrated IMU
- Model
- Bosch BMI160
- Count
- 1
- Accel / gyro
- 200 / 200 Hz
GNSS
Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Not reported
Annotations
Reported annotation availability and task support.
- Availability
- Not reported
- Format
- Not reported
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Not reported
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
Not reported
Dataset corrections
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