Stereo Egocentric Video + 501.7 Hz IMU: Real-World Sensor Evaluation
Stereo Egocentric Video + 501.7 Hz IMU: What We Validated—and What We Did Not An engineering field note on real-world first-person manipulation data for Physical AI and robotics. Capturing two camera streams and high-rate inertial measurements does not automatically produce a calibrated robotics dataset. Frame correspondence, timestamp integrity, inertial continuity, temporal alignment, and…
Engineering observations on a 120-second head-mounted stereo recording involving a first-person case assembly task with a power drill and hand tools. The recording features two camera streams at 1600×1200 resolution, 30 frames per second, and 3,600 left-right frame pairs. A six-axis accelerometer and gyroscope IMU operates at approximately 501.7 Hz.
Frame correspondence, timestamp integrity, inertial continuity, temporal alignment, and stereo geometry require separate validation. The two streams share device frame ticks, but exposure timing is recorded independently, with a median difference of 20.5 microseconds between left and right exposure centers. IMU continuity shows 60,242 paired accelerometer/gyroscope samples at an effective rate of 501.71 Hz, with no missing or duplicate samples.
Camera-IMU alignment shows an estimated temporal offset of around -1.1 ms (left) and -1.2 ms (right). The manufacturer-supplied calibration parameters matched a different sensor mode, leading to a median vertical rectification residual of 3.409 pixels in the evaluated 1600×1200 mode. The public release includes engineering documentation and supporting figures, but does not include the original video or raw IMU data.
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