Submit to the Map-free Relocalization Benchmark | Niantic Spatial, Inc.

Submissions are made as a single ZIP archive containing one pose-estimate text file per query scene. Each pose file must list one line per query frame in the following format:

frame_name qw qx qy qz tx ty tz confidence

Rotations are represented as unit quaternions (qw, qx, qy, qz) and translations in meters (tx, ty, tz). The confidence value is a non-negative scalar used to rank predictions; submissions without a confidence score will be assigned a uniform value.

Archive layout

submission.zip
├── pose_s00460.txt
├── pose_s00461.txt
├── …
└── pose_s00524.txt

See the map-free-reloc GitHub repo for reference baselines and evaluation code that produces a valid submission archive.

Upload your submission

You must be signed in to upload a submission. After upload, our evaluation server scores your predictions on the held-out test set and posts results to the leaderboard.

Questions about evaluation, dataset access, or submission limits? Email mapfree-reloc@nianticspatial.com.