MiSensorKit

MiSensorKit is a multi-modal field recording application designed for iOS devices. It enables synchronized capture of multiple sensor streams within a single recording session, making it the ideal portable tool for building rich multi-modal datasets in the field. CAPTURE MULTIPLE MODALITIES RGB frames saved as high-resolution JPEGs (up to 1024px) LiDAR depth maps stored as UInt16 millimeter buffers Full camera intrinsics and 6-DoF extrinsic pose logged every frame as JSON Real-time 3D body skeleton tracking with joint positions via ARKit Front-facing selfie camera capture Gaze estimation and eye tracking data GPS location with latitude, longitude, altitude, speed, heading, and accuracy metrics IMU data including accelerometer, gyroscope, fused attitude (roll/pitch/yaw), and gravity vector Ambient light intensity and color temperature estimates Barometric pressure readings synchronized with every frame FLEXIBLE RECORDING SETUP Choose which modalities to record, configure sampling frequency from 1 to 60 Hz, and select output resolution from 224 to 1024 px. A built-in preflight check alerts you to missing permissions or hardware limitations before you start. Monitor sensor status, live FPS, stream health, and session size in real time while recording. BUILT-IN DATA VIEWER Browse and inspect recorded sessions directly on your device. Scrub through individual frames to view RGB images, depth maps, camera metadata, skeleton data, and sensor readings — without needing to transfer files to a computer. EXPORT AND SHARE Export any session as a ZIP archive directly from the app, or share the raw folder via Files and AirDrop. A session summary sheet appears automatically after each recording with key statistics and one-tap sharing options. STRUCTURED OUTPUT FORMAT Each recording session creates an organized folder structure with separate directories for RGB, depth, camera pose, skeleton, GPS, IMU, and metadata — ready for your processing pipeline. REQUIREMENTS iPhone or iPad with LiDAR sensor (required for depth recording only) iOS 26.0 or later Designed for researchers and developers who need a portable, easy-to-use tool for multi-modal data collection without external hardware or complex calibration setups.