---
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.