UZH FPV Leader Board

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


SequenceVideoLengthStart Time SnapdragonStart Time DavisDownload SnapdragonDownload Davis
indoor forward 11 85.68 1540824001 s 1540824001 s bag, zip bag, zip
indoor forward 12 124.07 1540824296 s 1540824296 s bag, zip bag, zip
indoor 45deg 3 119.82 1623 s 1545305934 s bag, zip bag, zip
indoor 45deg 16 58.72 133 s 1545315222 s bag, zip bag, zip
outdoor forward 9 314.41 372 s 1540102003 s bag, zip bag, zip
outdoor forward 10 455.63 674 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 Submissions can also be withdrawn completely.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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All sequence averages
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Individual sequences

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