Submit

In order to evaluate your SLAM system you can use this repository: vbr-slam-benchmark

Each of your estimate must be encoded in TUM format: #timestamp tx ty tz qx qy qz qw

The 16 estimates (8 training + 8 test) must be named as follows:
campus_test0_es.txt
campus_test1_es.txt
ciampino_test0_es.txt
ciampino_test1_es.txt
colosseo_test0_es.txt
diag_test0_es.txt
pincio_test0_es.txt
spagna_test0_es.txt
campus_train0_es.txt
campus_train1_es.txt
ciampino_train0_es.txt
ciampino_train1_es.txt
colosseo_train0_es.txt
diag_train0_es.txt
pincio_train0_es.txt
spagna_train0_es.txt

To submit your results, zip a folder containing your estimates, like the one in this example. If you encounter any problems with the submission please contact us (brizi[at].diag.uniroma1.it). Please be aware that the evaluation can take up to 10 minutes. Please make sure to put all the sequences listed above (training/testing) inside the zip folder, otherwise the evaluation won't work!

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