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XP Robotics Multi-Camera Episodes (3-cam)
A multimodal multi-camera egocentric dataset released by XP Robotics, captured on an XP Robotics wearable multi-camera rig. Each episode provides synchronized first-person camera views with inertial and audio signals.
Overview
- 179 episodes, 18.7 hours total
- 3 synchronized cameras per episode (front, down, side)
- Per-camera AV1 compressed video with a JSON timestamp map aligning frames to capture time
- IMU and USB-microphone audio on each episode
Recording schema
| Topic | Encoding | Schema | Description |
|---|---|---|---|
/camera/<view>/image_raw/compressed |
protobuf | foxglove.CompressedVideo |
AV1 video for each camera view (front, down, side) |
/camera/<view>/image_raw/compressed/timestamp_map |
json | xphi.VideoTimestampMap |
Per-frame camera id, frame id, and capture timestamps |
/imu/front |
json | sensor_msgs/Imu |
Inertial measurement (orientation, angular velocity, acceleration) |
/audio/usb_mic/raw |
protobuf | foxglove.RawAudio |
Microphone audio |
Each episode also carries an xphi.custom metadata record with recording details (scene, task, date, and collection fields).
Files
xphi-3-cam-dataset/
metadata.csv
xphi_3cam_001.mcap
...
xphi_3cam_179.mcap
Files are named uniformly xphi_3cam_<NNN>.mcap, numbered by recording start time. metadata.csv lists each file with its camera set, audio/IMU presence, duration, size, start time, and message count.
Reading the data
Video and audio use protobuf encoding; the IMU and 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_3cam_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"]):
print(channel.topic, message.log_time)
pip install mcap mcap-protobuf-support
The JSON 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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