Submission Format

Estimated Trajectories

Upload a .zip file with exactly the following contents:


Or “davis” instead of “snapdragon” if you use the DAVIS sensor. The text files should have the following content:

timestamp tx ty tz qx qy qz qw
1.403636580013555527e+09 0.0 0.0 0.0 0.0 0.0 0.0 0.0

The file should be space-separated. Each line stands for the pose at the specified timestamp. The timestamps are in the unit of second and used to establish temporal correspondences with the groundtruth. The first pose should be no later than the starting times specified above, and only poses after the starting times will be used for evaluation.

The pose is composed of translation (txtytz, in meters) and quaternion (in Hamilton quaternion, the w component is at the end). The pose should specify the pose of the IMU in the world frame. For example, after converting the pose to a transformation matrix Twi, one should be able to transform the homogeneous point coordinates in IMU frame to world frame as pw = Twi * pi.

Do not publish your trajectory estimates, as we might re-use some of the datasets for future competitions.


In addition to the estimated trajectories, the participants are required to submit a short report (maximum 4 pages, 10MB, pdf) summarizing their approach. The reports of all teams will be published on the website upon submission. The format of the report is left to the discretion of the participants, however the report must specify the following information:

  • A brief overview of the approach:
    • Filter or optimization-based (or else)?
    • Is the method causal? (i.e. does not use information from the future to predict the pose at a given time).
    • Is bundle adjustment (BA) used? What type of BA, e.g. full BA or sliding window BA?
    • Is loop closing used?
  • Exact sensor modalities used (IMU, stereo or mono, event data?)
  • Total processing time for each sequence
  • Exact specifications of the hardware used
  • Whether the same set of parameters is used throughout all the sequences

The participants are welcome to include further details of their approach, eventual references to a paper describing the approach, or any other additional information.