Benchmark
- Click here to find the result of the preliminary round of this competition.
- Click here to download the result of the final round of this competition.
- Configuration of the benchmark PC:
- CPU : i7-12700F 4.90GHz
- Memory : 32G
- GPU : NVIDIA RTX 3060-12G
- Hard Disk : NVME SSD 1TB
| Rank | Participants | Group Name | Affiliation | System Name | APE | RPE | ARE | RRE | Badness | Initialization Quality | Robustness | Relocalization Time | Benchmark Score | Average FrameRate | Speed Penalty | Final Score (%) | System Description |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | 冯杰琳，董宇祥，邹征昊，赵李群，赵春晖，胡劲文，吕洋 | 李群不会漂移 | 西北工业大学 | LIFT-VINS | 0.2051 | 0.1372 | 0.0998 | 0.0778 | 0.0294 | 0.8697 | 0.4941 | 0.9764 | 0.4637 | 29.9918 | 0.9997 | 46.36 | Doc Slide |
| 2 | 张维智，颜长建，盛兴东 | Lenovo Research | 联想上海研究院 | AR-SLAM | 0.1222 | 0.1753 | 0.0569 | 0.0807 | 0.0025 | 0.8357 | 0.3926 | 0.8619 | 0.4000 | 32.4606 | 1.0000 | 40.00 | Doc Slide |
| 3 | 徐泽文，吕泽仁，张怡迪，杨钊龙，卫浩 | 薇爱欧 | 中国科学院自动化研究所 | RVG-VIO-Opti | 0.2360 | 0.1729 | 0.1081 | 0.0800 | 0.0776 | 0.8591 | 0.6061 | 0.3141 | 0.3879 | 66.9793 | 1.0000 | 38.79 | Doc Slide |
| 4 | 张雪涛，林舒月，姚贺凯，徐啸天，孙刚 | DUTSLAM | 大连理工大学 | DUT-VISLAM | 0.0972 | 0.3373 | 0.0512 | 0.0735 | 0.0034 | 0.5957 | 0.4233 | 0.9134 | 0.3821 | 30.0195 | 1.0000 | 38.21 | Doc Slide |
| 5 | 吴昱臻，白宇，张廉，王岭雪 | 全向感知 | 北京理工大学 | VINS-wo-ROS | 0.0548 | 0.1633 | 0.0359 | 0.0611 | 0.0090 | 0.3719 | 0.1788 | 0.9871 | 0.2903 | 28.4567 | 0.9486 | 27.54 | Doc Slide |
Competition Chairs
Xin Yang
Huazhong University of Science and Technology, China
Haomin Liu
SenseTime, China
Yan Xia
Technical University of Munich, Germany
Acknowledgement
We thank Ziyang Zhang for his great help in building the website and evaluating the participating SLAM systems. Similarly, our thanks go to Jin Yuan for his support in recording the dataset and evaluating the participating SLAM systems.