Maps · 3-D Gaussian splats
What xclean saw, in 3-D.
Each map is reconstructed from a route's images and xclean's own live camera poses, not ground truth: the median run of the three final-board runs (by ATE on routes with ground truth; on our OAK routes, the run whose end position is closest to the other two). Where the poses are wrong, the map shows it. Each map says where.
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Only maps from data we may share are published here: our own OAK-D-Lite recordings and the Rosario Dataset (CC BY 4.0). Routes from datasets with non-commercial or unstated licences appear on the results page as numbers only. Map facts are read from each map's own files (attribution, manifest, trajectory, point cloud); path length is the sum of xclean's keyframe-to-keyframe distances. The board numbers shown come from an engine frozen with its last pre-registered kill test (K14) failed on two routes; details.