EvTTC Benchmark | Competition

This TTC benchmark includes 10 sequences, covering three main types of scenes: CCRs, CCRm, and Slider. You can directly download these data to evaluate your algorithm.

CCRs1-low: hdf5 (550.1 M) | bbox (1 K)
CCRs1-medium: hdf5 (540 M) | bbox (1 K)
CCRs1-high: hdf5 (554.7 M) | bbox (0.9 K)
CCRs2-low: hdf5 (667.9 M) | bbox (1 K)
CCRs2-medium: hdf5 (861.2 M) | bbox (2 K)
CCRs2-high: hdf5 (964.9 M) | bbox (2 K)
CCRm-low: hdf5 (717.7 M) | bbox (1 K)
CCRm-medium: hdf5 (708.6 M) | bbox (1 K)
Slider-750: rosbag (516.6 M) | bbox (2 K) | calibration (61 K)
Slider-1000: rosbag (408.2 M) | bbox (0.6 K) | calibration (61 K)

To submit the results of your method to the EvTTC leaderboard you must first apply for submission. Every application will be manually reviewed. Furthermore, the results you submit must comply with this specific data format.

Information about datasets used by the methods.

8-mm Lens Camera Pair: Method uses data collected with the 8-mm lens camera pair
16-mm Lens Camera Pair: Method uses data collected with the 16-mm lens camera pair
Event Camera: Method uses events from Prophesee EVKv4
RGB Camera: Method uses images from FLIR Blackfly S

CCRs1-slow

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	7.54	0.031	6800H @ 3.2 Ghz (matlab)
2	CMax	paper		2.56	3.833	6800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	45.11	0.081	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	15.15	0.156	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		39.57	\( 4.2\times10^{-5}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		5.37	0.036	6800H @ 3.2 Ghz (matlab)

CCRs1-medium

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	9.64	0.026	6800H @ 3.2 Ghz (matlab)
2	CMax	paper		3.44	3.701	6800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	44.94	0.081	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	20.63	0.155	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		42.41	\( 3.9\times10^{-5}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		5.12	0.031	6800H @ 3.2 Ghz (matlab)

CCRs1-high

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	7.78	0.045	6800H @ 3.2 Ghz (matlab)
2	CMax	paper		7.39	3.228	6800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	43.03	0.300	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	19.51	0.337	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		39.04	\(1.1\times10^{-5}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		5.12	0.031	6800H @ 3.2 Ghz (matlab)

CCRs2-low

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	8.15	0.024	6800H @ 3.2 Ghz (matlab)
2	CMax	paper		5.04	3.246	6800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	48.83	0.350	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	25.83	0.169	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		37.09	\( 9.4\times10^{-6}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		3.76	0.031	6800H @ 3.2 Ghz (matlab)

CCRs2-medium

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	11.83	0.024	6800H @ 3.2 Ghz (matlab)
2	CMax	paper		11.20	3.449	6800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	52.84	0.098	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	47.45	0.191	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		43.17	\(7.3\times10^{-6}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		3.85	0.031	6800H @ 3.2 Ghz (matlab)

CCRs2-high

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	13.68	0.028	6800H @ 3.2 Ghz (matlab)
2	CMax	paper		11.10	3.826	6800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	49.46	0.127	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	49.62	0.165	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		42.43	\(6\times10^{-6}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		2.92	0.031	6800H @ 3.2 Ghz (matlab)

CCRm-low

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	9.87	0.031	6800H @ 3.2 Ghz (matlab)
2	CMax	paper		9.27	3.658	6800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	71.05	0.059	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	75.78	0.116	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		26.95	\(1\times10^{-5}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		5.60	0.027	6800H @ 3.2 Ghz (matlab)

CCRm-medium

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	10.36	0.023	6800H @ 3.2 Ghz (matlab)
2	CMax	paper		14.73	3.657	6800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	58.00	0.121	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	56.26	0.11	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		35.99	\(1.1\times10^{-5}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		3.86	0.026	6800H @ 3.2 Ghz (matlab)

Slider-750

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	8.95	0.015	5800H @ 3.2 Ghz (matlab)
2	CMax	paper		4.16	0.85	5800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	18.99	0.498	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	34.45	0.186	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		157.88	\(1\times10^{-5}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		11.35	0.013	5800H @ 3.2 Ghz (matlab)

Slider-1000

	Method	Paper	Code	\( e_{TTC} \) (%) ⬆️	Runtime (s) ⬆️	Environment
1	STRTTC	paper	code	12.43	0.016	5800H @ 3.2 Ghz (matlab)
2	CMax	paper		2.74	0.93	5800H @ 3.2 Ghz (matlab)
3	ETTCM	paper	code	15.20	0.191	i7-13700K @ 3.4 Ghz (C++)
4	FAITH	paper	code	47.94	0.233	i7-13700K @ 3.4 Ghz (C++)
5	AEB-Tracker	paper		165.56	\(7.8\times10^{-6}\)	i7-13700K @ 3.4 Ghz (C++)
6	Image's FoE	paper		7.55	0.012	5800H @ 3.2 Ghz (matlab)