HMDPose: A large-scale trinocular IR Augmented Reality Glasses Pose Dataset

Augmented Reality Glasses usually implement an Inside-Out tracking. In case of a driving scenario or glasses with less computation capabilities, an Outside-In tracking approach is required. However, to the best of our knowledge, no public datasets exist that collects images of users wearing AR glasses. To address this problem, we present HMDPose, an infrared trinocular dataset of four different AR Head-mounted displays captured in a car. It contains sequences of 14 subjects captured by three different cameras running at 60 FPS each, adding up to more than 3,000,000 labeled images in total. We provide a ground truth 6DoF-pose, captured by a marker-based tracker with submillimeter accuracy. We make this dataset publicly available for non-profit, academic use and non-commercial benchmarking.

Link to the publication


License Agreement

HMDPose is made freely available to academic and non-academic entities for non-commercial purposes such as academic research, teaching, scientific publications, or personal experimentation.

Permission is granted to use the data given that you agree:

  1. That the dataset comes “AS IS”, without express or implied warranty. Although every effort has been made to ensure accuracy, we (TU Kaiserslautern, Germany) do not accept any responsibility for errors or omissions.
  2. That you include a reference to the HMDPose Dataset in any work that makes use of the dataset. For research papers and other publications, cite our publication: Ahmet Firintepe, Alain Pagani and Didier Stricker. HMDPose: A large-scale trinocular IR Augmented Reality Glasses Pose Dataset, VRST '20: 26th ACM Symposium on Virtual Reality Software and Technology.
  3. That you may not use the dataset or any derivative work for commercial purposes as, for example, licensing or selling the data, or using the data with a purpose to procure a commercial gain.
  4. That all rights not expressly granted to you are reserved to TU Kaiserslautern, Germany.
By downloading the dataset, you agree to this license agreement.


Please use the following link to download the ZIP files with the data for each subject, as well as camera calibration files:


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