Leader Board

These are the sequences used in the UZH FPV competition. We evaluate position and orientation estimation accuracy on nine dataset sequences for which the ground truth is not public. The leader board containing the top 15 submissions is at the bottom of the page.


SequenceVideoLength [m]Start Time [s]Download
SplitS Track 1 https://youtu.be/mYKStE7e2aI 246.28 1654544051.569510 bag, zip
SplitS Track 2 https://youtu.be/mYKStE7e2aI 246.38 1654836213.498711 bag, zip
SplitS Track 3 https://youtu.be/mYKStE7e2aI 249.05 1654836718.332698 bag, zip
SequenceVideoLength [m]Start Time SnapdragonStart Time DavisDownload SnapdragonDownload Davis
indoor forward 11 https://youtu.be/mYKStE7e2aI 85.68 1540824001 s 1540824001 s bag, zip bag, zip
indoor forward 12 https://youtu.be/jNlDgN8fdKA 124.07 1540824296 s 1540824296 s bag, zip bag, zip
indoor 45deg 3 https://youtu.be/q6ELgSAjNMY 119.82 1623 s 1545305934 s bag, zip bag, zip
indoor 45deg 16 https://youtu.be/V4OnapxRLD4 58.72 133 s 1545315222 s bag, zip bag, zip
outdoor forward 9 https://youtu.be/ydaMA4Uta9A 314.41 372 s 1540102003 s bag, zip bag, zip
outdoor forward 10 https://youtu.be/G60gls4qeZ4 455.63 674 s 1540102304 s bag, zip bag, zip

Evaluation Method

The submission will be ranked based on the position accuracy. We use the same metric as the one adopted by KITTI. The average translation error (in percentage) over all possible subsequences of a set of certain lengths is used for ranking the submitted results. We use our publicly available trajectory evaluation toolbox to evaluate the estimated trajectories.

For each x in {40m, 60m, 80m, 100m, 120m}, subtrajectories of length x are uniformly sampled (in time) from the entire trajectory. The smaller the subtrajectory, the more samples there are in a given sequence. For each of those subtrajectories is then the relative position and rotation error computed as in the trajectory evaluation toolbox. For the ranking, the average of relative position error and rotation error is taken across all such samples. The length of the sequence affects the amount of samples in that sequence. For example, outdoor_forward_9 has {964, 916, 862, 807, 762} samples for trajectory lengths {40, 60, 80, 100, 120}. If a trajectory is shorter than x, no samples are generated for x.


To make a submission, you will need to create an account, follow the instructions below. Each account can make only one submission, but it can be changed afterwards. Submissions are not automatically published – you can review the results and decide whether to publish by yourself (evaluation usually takes around a few minutes). Submissions can also be withdrawn completely.

´╗┐Click here for the submission format specification.


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