mlsanityData to 7 Oct 2026

Ego-OSCAR: Egocentric Open source Stereo CAptuRe System

arXiv 2608.08285 ↗First posted 8 Aug 2026cs.CV cs.AR cs.ROcited by 0

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Abstract (arXiv)

We present Ego-OSCAR, an open-hardware, low-cost, head-mounted stereo-inertial capture device for egocentric data collection in the wild. EgoOSCAR pairs a hardware-synchronized global-shutter stereo camera with a 6- axis IMU, an embedded Linux SBC for on-device video encoding, and a realtime microcontroller for user feedback and watchdog functions. The complete bill of materials is under USD 200 per unit, using only commercially available components and 3D-printed parts. Alongside the device, we release a complete software stack (hardware-accelerated recording pipeline, IMU sampling daemon, time-synchronization tooling, and watchdog firmware) and roughly 550 hours of egocentric stereo video per camera with synchronized IMU, collected by a distributed contributor network across everyday indoor environments. The release is annotated rather than raw: free-form action captions cover essentially the entire recorded timeline with an open vocabulary, and per-frame 3D hand reconstructions ship alongside per-session stereo calibration. Ego-OSCAR does not aim to match the per-unit fidelity of research-grade systems such as Project Aria; it aims to be the cheapest defensible substrate for crowdsourced egocentric capture, and to lower the activation energy for any team that wants to collect egocentric data at scale. All hardware designs, software, and the dataset are open-sourced

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 18 of its 24 references that are in the map. First posted on arXiv 8 Aug 2026.

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18 of 24 references.

References · 18

  1. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  2. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  4. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  5. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  6. 2018Recurrent World Models Facilitate Policy Evolutioncited by 761
  7. 2018QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulationcited by 730
  8. 2020Rescaling Egocentric Visioncited by 529
  9. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 373
  10. 2021RAFT-Stereo: Multilevel Recurrent Field Transforms for Stereo Matchingcited by 348
  11. 2023Project Aria: A New Tool for Egocentric Multi-Modal AI Researchcited by 201
  12. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
6 more
  1. 2024Nymeria: A Massive Collection of Multimodal Egocentric Daily Motion in the Wildcited by 109
  2. 2019A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensorscited by 44
  3. 2024Aria Everyday Activities Datasetcited by 38
  4. 2026EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstrationcited by 18
  5. 2019Rolling-Shutter Modelling for Direct Visual-Inertial Odometrycited by 15
  6. 2026MobileEgo Anywhere: Open Infrastructure for long horizon egocentric data on commodity hardwarecited by 2

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