We congratulate the winners CSIRO, V&R and MARS LAB for their outstanding performance. Additionally we congratulate TUM for winning the vision only award.

The cash award winners are

  • Wei Xu, Zheng Liu, Chongjian Yuan, Xiyuan Liu, and Fu Zhang (MARS LAB): 7000 USD
  • Hyungtae Lim, Daebeom Kim, Beomsoo Kim, Seungwon Song1, Alex Junho Lee, Seungjae Lee, and Hyun Myung (KAIST): 3000 USD
  • Jiahe Cui, Yunxiang He, Shuyao Shi, and Jinwen Zhu (Beihang Univ, The Chinese University of Hong Kong): 2000 USD
  • Wei Zhang and Sen Wang (University of Stuttgart, TUM): 1000 USD

Live Leaderboard 2022

Live Vision/imu only leaderboard

Score Computation

After transformation of the estimates from the imu frame to the pole tip, we aligned the trajectory with the sparse ground truth points using a rigid transformation. Then the ATE for each point is computed (we rely on the evo script). Depending on the error, each ground truth point adds a certain amount of points to the score:

  • < 1cm → 10 points
  • < 3cm → 6 points
  • < 6cm → 3 points
  • < 10cm → 1 point
  • >10cm → 0 points
In order to give each sequence the same weight, a normalization factor is introduced. That means each sequence can score up to 100 points (all points <1cm error). That leads to a maximum of 800 points.