RunCam/runcam-feed-camera-egocentric-rgb-imu

RunCam Feed Camera - Egocentric RGB + IMU Sample Dataset

A small sample dataset captured with the RunCam Feed Camera for egocentric video and synchronized motion-sensor workflows.

Capture Device

• —Video: H.265 MP4, 1920x1080, 60 fps for V01-V06
• —Nominal video bitrate: 18 Mbps
• —Horizontal field of view: 126 degrees
• —Device weight: approximately 26 g
• —IMU: ICM-42607, 6-axis
• —IMU sampling rate: 800 Hz for the recordings in this sample
• —Firmware reported in the GCSV files: FIRMWARE_0.1.0

Data Included

Each sample contains one RGB video (RGB.mp4), one motion file (IMU.gcsv), and one recording metadata file (metadata.json). The repository also includes catalog.csv and examples/read_imu.py.

Repository Structure

~~~text catalog.csv examples/ read_imu.py samples/ V01/ ... V06/ RGB.mp4 IMU.gcsv metadata.json ~~~

IMU Data Format

The GCSV files contain a metadata header followed by comma-separated samples:

~~~text t,gx,gy,gz,ax,ay,az ~~~

• —t: elapsed time in seconds
• —gx, gy, gz: gyroscope readings
• —ax, ay, az: accelerometer readings
• —tscale=0.00125 seconds per sample, corresponding to 800 Hz
• —IMU identifier: icm42607

Timestamp and Synchronization

Video timestamps are represented by the MP4 container. IMU timestamps are elapsed-time values in the GCSV file. The paired files were captured during the same device session, and GCSV metadata identifies the corresponding video filename. The nominal IMU interval is 1.25 ms. Exact cross-modal sync offset has not been independently calibrated.

Sample Description

Python Example

~~~python from pathlib import Path import pandas as pd

path = Path("samples/V01/IMU.gcsv") text = path.readtext(encoding="utf-8", errors="replace") headerend = text.index("t,gx,gy,gz,ax,ay,az") metadata = {} for line in text[:headerend].splitlines(): if "=" in line: key, value = line.split("=", 1) metadata[key.strip()] = value.strip() imu = pd.readcsv(path, skiprows=len(text[:header_end].splitlines())) print(metadata) print(imu.head()) print("Samples:", len(imu)) print("Estimated rate:", round(1 / float(metadata["tscale"])), "Hz") ~~~

Intended Use

This sample is intended for research, prototyping, sensor-format inspection, egocentric video experiments, and evaluation of lightweight RGB + IMU capture workflows.

Limitations

This is a small indoor sample and is not a complete robotics sensing suite. It does not provide RGB-D, LiDAR, force, torque, or tactile channels. Video-IMU synchronization should be independently validated for safety-critical or high-precision use.

Contact

For technical questions or evaluation discussions, please contact RunCam.