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iOS App Overview

The ARVOS iOS app turns your iPhone (and optional Apple Watch) into a sensor streaming platform.

App Availability

The ARVOS iOS app is available on the App Store for download and use. However, the iOS app source code is not open source and is not publicly available on GitHub. This documentation covers app usage and features.

Features

📱 iPhone Sensors

  • 📷 Camera: 30 FPS @ 1920x1080 RGB video streaming
  • 🔍 LiDAR/Depth: 5 FPS 3D point clouds with confidence maps
  • 📊 IMU: 100-200 Hz accelerometer + gyroscope + gravity reference
  • 🧭 ARKit Pose: 30-60 Hz 6DOF camera tracking with quality flags
  • 📍 GPS: 1 Hz location data (outdoor)

⌚ Apple Watch Integration

  • ⌚ IMU: 50-100 Hz wearable accelerometer + gyroscope + gravity
  • 🧭 Attitude: Quaternion + pitch/roll/yaw angles
  • 🚶 Motion Activity: Classification (walking, running, cycling, vehicle, stationary)

🌐 7 Streaming Protocols

Choose the protocol that fits your use case:

  • WebSocket - General purpose, default
  • gRPC - High performance, research (iOS 18+)
  • MQTT - IoT, multi-subscriber
  • HTTP/REST - Simple integration
  • Bluetooth LE - Low bandwidth, cable-free
  • MCAP Stream - Robotics research
  • QUIC/HTTP3 - Ultra-low latency (iOS 15+)

📊 Streaming Modes

  • Full Sensor - All available sensors
  • RGBD Camera - Camera + Depth only
  • IMU Only - Just IMU data (low bandwidth)
  • Mapping - Pose + IMU (SLAM use cases)
  • Visual-Inertial - Camera + IMU
  • LiDAR - Depth + IMU
  • Custom - Configure your own sensor combination

💾 Local Recording

  • Record to MCAP format
  • H.264 video encoding
  • Nanosecond timestamps
  • Export to KITTI, TUM, EuRoC formats

Requirements

iPhone

  • iPhone 12 Pro or newer (for LiDAR)
  • iOS 16.0+ (iOS 18+ for gRPC)
  • Same Wi-Fi network as computer (or Bluetooth for BLE)

Apple Watch (Optional)

  • Apple Watch Series 6 or newer
  • watchOS 9.0+
  • Paired with streaming iPhone

Getting Started

  1. Download the ARVOS app from the App Store
  2. Open the app and grant necessary permissions (Camera, Location, Motion)
  3. Connect to your Python server (see First Connection)
  4. Start streaming sensor data!

App Structure

Main Views

  • Connection Sheet - Connect to servers, select protocol
  • Streaming View - Real-time sensor visualization
  • Settings - Configure streaming modes, protocols
  • Recording - Local MCAP recording
  • Sensor Test - Test individual sensors

Protocol Selection

The app includes a protocol picker in the connection sheet: - Select from 7 available protocols - Automatic port configuration - Protocol-specific connection options

→ Protocol Selection Guide

Next Steps