Oxford Spires
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Camera pose estimation | Oxford Spires | ATE9.38 | 35 | |
| 3D reconstruction | Oxford Spires | Chamfer Distance (CD)0.96 | 22 | |
| Camera Pose Estimation | Oxford Spires sparse setting | AUC@1561.64 | 18 | |
| Camera Pose Evaluation | Oxford Spires | RRE0.32 | 13 | |
| Simultaneous Localization and Mapping | Oxford Spires | RMSE (Blenheim Palace 01)0.11 | 10 | |
| SLAM/Odometry | Oxford Spires | Time (ms/frame)16.5 | 10 | |
| Odometry | Oxford Spires keble-02 | APE RMSE0.05 | 7 | |
| Odometry | Oxford Spires bodleian-02 | APE RMSE0.19 | 7 | |
| LiDAR Mapping | Oxford Spires Keble College | Accuracy24.16 | 6 | |
| LiDAR Mapping | Oxford Spires Observatory | Accuracy24.79 | 6 | |
| Odometry | Oxford Spires observatory-01 | APE RMSE0.06 | 6 | |
| Odometry | Oxford Spires christchurch-03 | APE RMSE0.03 | 6 | |
| Odometry | Oxford Spires blenheim-01 | APE RMSE0.12 | 6 | |
| 3D Reconstruction | Oxford Spires (Observatory Quarter 01) | Accuracy13.86 | 6 | |
| 3D Reconstruction | Oxford Spires (Keble College 04) | Accuracy15.62 | 6 | |
| 3D Reconstruction | Oxford Spires (Christ Church 02) | Accuracy14.2 | 6 | |
| 3D Reconstruction | Oxford Spires (Blenheim Palace 05) | Accuracy15.25 | 6 | |
| Trajectory tracking | Oxford Spires (keb) | ATE RMSE (m)0.177 | 5 | |
| Trajectory tracking | Oxford Spires (obs) | ATE RMSE (m)0.15 | 5 | |
| Tracking Accuracy | Oxford Spires Observatory Quarter | ATE RMSE0.262 | 5 | |
| Tracking Accuracy | Oxford Spires Christ Church College | ATE RMSE1.551 | 5 | |
| Tracking Accuracy | Oxford Spires Blenheim Palace | ATE RMSE3.391 | 5 | |
| Tracking Accuracy | Oxford Spires Bodleian Library | ATE RMSE7.665 | 4 | |
| 3D Mesh Reconstruction | Oxford Spires | Accuracy (cm)14.54 | 3 | |
| LiDAR-Inertial Odometry | Oxford Spires Indoor-Outdoor | ATE RMSE (m)0.05 | 3 |
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