Learning outcomes
- Pair a `truths/` trajectory with an `algorithms/` trajectory
- Know which EPA artifacts support a public row
- Keep OpenVINS ov_eval as compatibility, not the primary publication path
Evaluation pair
EPA compares a truth trajectory against an estimated trajectory.
For the benchmark, those files are organized as `truths/<dataset>/<sequence>.txt` and `algorithms/<system>/<dataset>/<sequence>.txt`.
Public artifact
EPA outputs go under `epa_outputs/<system>/<dataset>/<sequence>/`.
A result row stays TBD until the EPA summary, command metadata, and run artifacts all point to the same case.
Checklist
- Truth file exists
- Estimated trajectory exists
- EPA output folder exists
- Alignment and timestamp association policy are recorded
Advanced notes
ATE, RPE, drift rate, and success rate depend on association and alignment policy. Publish that policy with the metric row.
OpenVINS-style commands are useful for compatibility checks, but EPA is the public result pipeline.
Practice task
Write the EPA input pair for one system, one dataset, and one sequence using `truths/` and `algorithms/` paths.