Technical Specifications

Supported Devices

iOS Devices

Device	Sensors Available	Notes
iPhone 8/8 Plus	Camera, IMU, GPS, Barometer, Mic	Minimum supported device
iPhone X/XS/XR	Camera, IMU, GPS, Barometer, Mic, Face ID depth	TrueDepth for selfie-side depth
iPhone 11 series	Camera, IMU, GPS, Barometer, Mic, U1	Ultra-wideband for precise ranging
iPhone 12/13 Pro+	All above + LiDAR	Full depth mapping capability
iPhone 14/15/16/17	All above + Crash Detection IMU	Highest quality IMU

Operating System

• Minimum: iOS 15.0

• Recommended: iOS 17.0+

Android (Coming Soon)

Android support in development. Initial support will target:

• Android 13+

• Devices with ARCore support

• Flagship and mid-range devices from major manufacturers

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Sensor Specifications

Camera (RGB)

Parameter	Value
Resolution	1080p default, up to 4K
Frame Rate	30 fps default, 60 fps available
Codec	H.264 (AVC) or H.265 (HEVC)
Bitrate	Adaptive, typically 8-20 Mbps
Color Space	BT.709 (sRGB)
Metadata	EXIF, device model, lens info

Depth / LiDAR

Parameter	Value
Technology	dToF LiDAR (Pro devices)
Range	0.5m - 5m
Points	~30,000 per frame
Frame Rate	Up to 60 Hz
Format	Point cloud (XYZ + confidence) or depth map
Alignment	Registered to RGB camera

IMU (Accelerometer + Gyroscope)

Parameter	Value
Accelerometer Range	±16g
Accelerometer Resolution	0.001g
Gyroscope Range	±2000°/s
Gyroscope Resolution	0.01°/s
Sample Rate	100 Hz default, up to 200 Hz
Timestamp Resolution	1 ms
Coordinate Frame	Device-relative (see documentation)

Magnetometer

Parameter	Value
Range	±4800 µT
Resolution	0.1 µT
Sample Rate	50-100 Hz
Calibration	On-device, user-prompted when needed

Barometer

Parameter	Value
Range	300 - 1100 hPa
Resolution	0.01 hPa
Accuracy	±1 hPa absolute, ±0.1 hPa relative
Sample Rate	1-10 Hz
Altitude Resolution	~10 cm vertical change detection

GPS / GNSS

Parameter	Value
Constellations	GPS, GLONASS, Galileo, QZSS, BeiDou
Horizontal Accuracy	3-10m typical (device/conditions dependent)
Vertical Accuracy	5-15m typical
Update Rate	1 Hz
Privacy Processing	Grid quantization + hashing (see Privacy)

Microphone

Parameter	Value
Sample Rate	48 kHz
Bit Depth	16-bit
Channels	Mono (primary mic)
Format	AAC compressed or PCM
Privacy Processing	Speech removal on-device

Wi-Fi / Bluetooth RSSI

Parameter	Value
RSSI Range	-100 to 0 dBm
Scan Interval	OS-limited, typically 2-10 seconds
Identifiers	Hashed BSSID/UUID (not raw)
Additional Data	SSID hash, channel (Wi-Fi), service UUIDs (BLE)

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Data Formats

Video Files

filename: {session_id}_{timestamp}.mp4
container: MP4
video_codec: H.264 or H.265
audio: none (separate audio files if captured)
metadata: embedded + sidecar JSON

Sensor Data (Tabular)

filename: {session_id}_{sensor}_{timestamp}.csv
columns: timestamp_ns, [sensor-specific columns]
encoding: UTF-8
delimiter: comma
header: included

Example IMU CSV:

timestamp_ns,acc_x,acc_y,acc_z,gyro_x,gyro_y,gyro_z
1706054400000000000,0.023,-9.812,0.042,0.001,-0.002,0.001
1706054400010000000,0.025,-9.808,0.039,0.001,-0.001,0.002
...

Point Clouds

filename: {session_id}_depth_{timestamp}.ply
format: PLY (binary or ASCII)
properties: x, y, z, confidence, [r, g, b if RGB-aligned]
coordinate_frame: camera-relative

Metadata (JSON)

Each session includes metadata:

{
  "session_id": "abc123def456",
  "device": {
    "model": "iPhone 14 Pro",
    "os_version": "iOS 17.2",
    "sensors": ["camera", "lidar", "imu", "gps", "barometer"]
  },
  "collection": {
    "start_time": "2026-01-15T10:30:00Z",
    "duration_seconds": 1847,
    "campaign_id": "indoor_nav_eu_q1"
  },
  "quality": {
    "completeness": 0.98,
    "continuity_longest_gap_ms": 150,
    "validation_passed": true
  },
  "anonymization": {
    "location": "grid_hash_100m",
    "faces": "blur_applied",
    "audio": "speech_removed"
  }
}

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Coordinate Systems

Device Frame

IMU data is reported in the device coordinate frame:

• X: Right (when device held in portrait, screen facing user)

• Y: Up

• Z: Out of screen toward user

Camera Frame

Visual and depth data use camera conventions:

• X: Right in image

• Y: Down in image

• Z: Forward (into scene)

World Frame

Position data (where available) uses:

• Coordinate system: WGS84 (latitude, longitude, altitude)

• Anonymization: Grid-quantized and hashed before upload

Transformations

Calibration data for each device provides transforms between:

• IMU → Camera

• Depth → RGB (for LiDAR devices)

• Device → World (estimated via sensor fusion)

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Bandwidth and Storage

Approximate Data Rates

Data Type	Rate
RGB Video (1080p30)	~10 MB/min
RGB Video (4K30)	~30 MB/min
Depth/LiDAR	~5 MB/min
IMU (100Hz)	~0.5 MB/min
All other sensors	<0.1 MB/min

Compression

Downloaded datasets support:

• gzip: Broad compatibility

• zstd: Better compression, faster decompression

• none: For immediate processing