MiSensorKit

Multi-Modal Field Recorder for LiDAR iOS Devices

Synchronously capture RGB, LiDAR depth, camera pose, skeleton tracking, and sensor metadata — all in one tap.

Download on the App Store TST — Multimodality as Supervision

Abstract

MiSensorKit is a multi-modal field recording application for LiDAR-equipped iOS devices. It enables synchronized capture of RGB frames, LiDAR depth maps, 6-DoF camera poses, 3D body skeleton tracking, gaze estimation, ambient light, and barometric pressure — all within a single recording session. Designed for researchers and developers, MiSensorKit provides a portable, easy-to-use tool for building rich multi-modal datasets in the wild without requiring external hardware or complex calibration setups.

See It in Action

Key Features

RGB Capture

High-resolution RGB frames saved as JPEGs at up to 1024px resolution.

LiDAR Depth

Scene-depth maps from the LiDAR sensor stored as UInt16 millimeter buffers.

Camera Pose

Full camera intrinsics and 6-DoF extrinsics logged every frame as JSON.

Skeleton 3D

Real-time body skeleton tracking with 3D joint positions via ARKit.

Ambient Light

Light intensity and color temperature estimates from the AR session.

Barometer

Atmospheric pressure readings synchronized with every captured frame.

Demo Clips

App Entry

All Modalities

File Inspector

Camera & Room Position

Gaze Tracking

3D Skeleton Tracking

Output Data Format

Each recording session creates a structured folder under the app's Documents directory:

recording_<timestamp>/
  rgb/          frame_000001.jpg       # RGB images at selected resolution
  depth/        frame_000001.bin       # LiDAR depth (UInt16 millimeters)
  camera/       frame_000001.json      # Intrinsics + 6-DoF pose
  metadata/     frame_000001.json      # Ambient light + pressure
  skeleton/     frame_000001.json      # 3D body joint positions

Requirements

Device: iPhone or iPad with LiDAR sensor (iPhone 12 Pro and later, iPad Pro 2020 and later)
OS: iOS 16.0 or later
Permissions: Camera, Motion & Fitness access

App Screenshots

A walkthrough of MiSensorKit's screens and functionality.

1. Recording Screen

2. Sensor Status

3. Modality & Frequency Selection

4. Data Viewer

5. Depth Viewer

6. Pressure & Ambient Light Viewer

Ready to Capture?

Download MiSensorKit and start building multi-modal datasets today.

Download on the App Store