| license: cc-by-nc-4.0 | |
| tags: | |
| - visual-odometry | |
| - multi-camera | |
| - pose-estimation | |
| - streaming | |
| # 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 | |
| ```bash | |
| sha256sum -c SHA256SUMS | |
| ``` | |
| ## License | |
| CC BY-NC 4.0. NCLT and KITTI-360 are subject to the terms of their dataset providers. | |