StreamRig

Checkpoints and evaluation results for StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry.

Files

File	Description
NCLT-StreamRig.pth	StreamRig trained on NCLT (five cameras); config configs/nclt_streamrig.yaml
KITTI360-StreamRig.pth	StreamRig trained on KITTI-360 (four cameras); config configs/kitti360_streamrig.yaml
SHA256SUMS	Checksums of the two checkpoints
eval_results/	Saved trajectories and metrics of the two models

The checkpoints contain the trainable modules only (Rig-Resampler, Causal Bridge, Stream Pose Head). The frozen MapAnything backbone is obtained separately, as described in the code repository.

Results

Dataset	Evaluation split	t_rel (%)	r_rel (°/100 m)	ATE-SE3 (m)
NCLT	2012-02-19, 2012-08-20	2.77	1.39	28.4
KITTI-360	drives 0009, 0010	2.59	0.98	63.7

Both use stride 3 and 100–800 m relative-error segments.

Usage

Place the checkpoints in release_weights/ of the code repository and run scripts/eval_nclt.sh or scripts/eval_kitti360.sh. Verify the files with

sha256sum -c SHA256SUMS

License

CC BY-NC 4.0. NCLT and KITTI-360 are subject to the terms of their dataset providers.