FusionX Multimodal Sample Dataset (V3) This repository contains a multimodal dataset capturing synchronized stereo vision, RGB, IMU, and tactile glove data across 11 distinct tasks. It is intended for research in multimodal perception, manipulation learning, and tactile vision fusion. Dataset Overview Each task is captured with the following synchronized modalities: Mono Stereo Vision — Left and right monochrome camera streams stored as raw .png files at 640×400 resolution. RGB — Color camera stream stored as .jpg files at 720p . IMU — Inertial measurements from the on board OAK IMU, stored in oak imu.parquet . Tactile — Per frame glove sensor data aligned with vision, stored in frames.parquet . Calibration — Intrinsic and extrinsic camera parameters in calib.json . Coordinate Systems & Alignment To facilitate 3D reconstruction and multimodal learning, alignment is defined as follows: Monochrome Stereo — Left and right monochrome cameras operate in their own independent coordinate frames. Extrinsics between them are provided in calib.json . Tactile ↔ Vision — Per frame alignment between glove readings and image frames is provided via the index in frames.parquet . Resolution note: R…
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