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XP Robotics Multi-Camera Egocentric Recordings
A multimodal multi-camera egocentric dataset released by XP Robotics. Each recording provides several synchronized first-person camera views together with inertial and audio signals, captured on an XP Robotics wearable multi-camera rig.
Overview
- 38 recordings, 2.78 hours total
- Up to 6 synchronized cameras per recording (front, down, side; left/right variants on some recordings)
- Per-camera AV1 compressed video with a JSON timestamp map aligning frames to capture time
- IMU on every recording; USB-microphone audio on most
Most recordings use a 3-camera setup (front / down / side); one uses a 6-camera setup. See metadata.csv for the exact camera set and audio availability per recording.
Recording schema
| Topic | Encoding | Schema | Description |
|---|---|---|---|
/camera/<view>/image_raw/compressed |
protobuf | foxglove.CompressedVideo |
AV1 video for each camera view |
/camera/<view>/image_raw/compressed/timestamp_map |
json | xphi.VideoTimestampMap |
Per-frame camera id, frame id, and capture timestamps |
/imu/front |
protobuf | xphi.Imu |
Inertial measurement (orientation, angular velocity, acceleration) |
/audio/usb_mic/raw |
protobuf | foxglove.RawAudio |
Microphone audio (when present) |
Camera views across the dataset: front, down, side, and on some recordings front_left, front_right, down_left, down_right, side_left, side_right.
Files
xphi-6-cam-dataset/
metadata.csv
xphi_6cam_001.mcap
xphi_6cam_002.mcap
...
xphi_6cam_038.mcap
Files are named uniformly xphi_6cam_<NNN>.mcap, numbered by recording start time. metadata.csv lists each file with its camera count, camera set, audio/IMU presence, duration, size, start time, and message count.
Reading the data
Video, IMU, and audio use protobuf encoding; the timestamp maps use JSON. Decode the protobuf topics with the mcap and mcap-protobuf-support packages:
from mcap.reader import make_reader
from mcap_protobuf.decoder import DecoderFactory
with open("xphi_6cam_001.mcap", "rb") as f:
reader = make_reader(f, decoder_factories=[DecoderFactory()])
for schema, channel, message, proto in reader.iter_decoded_messages(
topics=["/camera/front/image_raw/compressed", "/imu/front"]
):
print(channel.topic, message.log_time)
pip install mcap mcap-protobuf-support
The JSON timestamp-map topics can be read directly from the raw message bytes as UTF-8 JSON.
Attribution
Collected and released by XP Robotics.
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