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Jamie-nus
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CROSS-benchmark-runs

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The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
t1|kitti|01|amb3r_slam|mono|0|01|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
  child 0, traj_est: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
  child 1, traj_gt: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
t1|kitti|01|amb3r_slam|stereo|0|01|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
  child 0, traj_est: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
  child 1, traj_gt: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
t1|kitti|01|cross_mono_ff_odom|mono|0|01|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
  child 0, traj_est: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
  child 1, traj_gt: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
t1|kitti|01|cross_mono_ff_odom|mono|0|01|None|None|vio: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
  child 0, traj_est: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
  child 1, traj_gt: list<item: list<item: double>>
...
ist<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
  child 0, traj_est: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
  child 1, traj_gt: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
t1|kitti|00|cross_mono_ff_vgio|mono|0|00|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
  child 0, traj_est: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
  child 1, traj_gt: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
t1|kitti|00|orbslam3_imu|mono|0|00|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
  child 0, traj_est: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
  child 1, traj_gt: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
t1|kitti|00|rtabmap_vi|stereo|0|00|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
  child 0, traj_est: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
  child 1, traj_gt: list<item: list<item: double>>
      child 0, item: list<item: double>
          child 0, item: double
to
{'t1|kitti|00|amb3r_slam|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|amb3r_slam|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff_odom|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff_odom|mono|0|00|None|None|vio': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff_vgio|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff_vio|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_odom|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_odom|mono|0|00|None|None|vio': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_rgbd_ff|rgbd|0|00|None|None|external': {'tra
...
one|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|mast3r_slam|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|orbslam3_imu|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|orbslam3_imu|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|orbslam3|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|orbslam3|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|rtabmap_vi|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|rtabmap_vo|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|rtabmap|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|rtabmap|stereo|0|00|None|None|vio': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|vggt_slam|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 558, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 361, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              t1|kitti|01|amb3r_slam|mono|0|01|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
                child 0, traj_est: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
                child 1, traj_gt: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
              t1|kitti|01|amb3r_slam|stereo|0|01|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
                child 0, traj_est: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
                child 1, traj_gt: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
              t1|kitti|01|cross_mono_ff_odom|mono|0|01|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
                child 0, traj_est: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
                child 1, traj_gt: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
              t1|kitti|01|cross_mono_ff_odom|mono|0|01|None|None|vio: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
                child 0, traj_est: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
                child 1, traj_gt: list<item: list<item: double>>
              ...
              ist<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
                child 0, traj_est: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
                child 1, traj_gt: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
              t1|kitti|00|cross_mono_ff_vgio|mono|0|00|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
                child 0, traj_est: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
                child 1, traj_gt: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
              t1|kitti|00|orbslam3_imu|mono|0|00|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
                child 0, traj_est: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
                child 1, traj_gt: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
              t1|kitti|00|rtabmap_vi|stereo|0|00|None|None|external: struct<traj_est: list<item: list<item: double>>, traj_gt: list<item: list<item: double>>>
                child 0, traj_est: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
                child 1, traj_gt: list<item: list<item: double>>
                    child 0, item: list<item: double>
                        child 0, item: double
              to
              {'t1|kitti|00|amb3r_slam|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|amb3r_slam|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff_odom|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff_odom|mono|0|00|None|None|vio': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff_vgio|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff_vio|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_ff|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_odom|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono_odom|mono|0|00|None|None|vio': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_mono|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|cross_rgbd_ff|rgbd|0|00|None|None|external': {'tra
              ...
              one|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|mast3r_slam|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|orbslam3_imu|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|orbslam3_imu|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|orbslam3|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|orbslam3|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|rtabmap_vi|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|rtabmap_vo|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|rtabmap|stereo|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|rtabmap|stereo|0|00|None|None|vio': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}, 't1|kitti|00|vggt_slam|mono|0|00|None|None|external': {'traj_est': List(List(Value('float64'))), 'traj_gt': List(List(Value('float64')))}}
              because column names don't match
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CROSS benchmark: per-frame data

Per-frame data of the CROSS benchmark results, plotted by the results page: for every result cell the top-down trajectory (traj_gt, traj_est: positions in m, the estimate aligned to the ground truth, downsampled to at most 800 points) of mapping runs (T1) and the localization error curve (err_curve: m per evaluated query frame, -1 = no estimate) of multi-session localization runs (T2).
The metrics of every cell are in the CROSS repository (benchmark/results/results.json); this dataset holds only what is too large for git. frames/<track>/<dataset>/<scene>.json.gz maps a cell key (track|dataset|scene|system|setup|seed|sequence|map|query|odometry) to its fields. The repository's benchmark/results/frames.json pins the revision that matches its results; benchmark/results_io.py reads it (load_results(frames=True)) and downloads it when needed.
The ground-truth trajectories are derived from KITTI, OpenLORIS-Scene, ROVER and our SimChange scenes; their use follows the licenses of those datasets. The estimated trajectories and error curves are outputs of the benchmarked systems (CROSS and the baselines listed on the results page).
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