Tool Comparison

This page summarizes a direct benchmark study in which epica and evo were evaluated separately on 139 cases from the euroc_mav, grand_tour, lamaria, and uzh_fpv datasets.

Overall Comparison

Metric epica evo
Successful cases 139 139
Non-critical comparable cases 103 103
Mean aligned RMSE (m) 2.134 5.339
Median aligned RMSE (m) 0.809 4.482
Case wins 69 3
Win rate 66.99% 2.91%
Ties 31 31

Interpretation:

  • The mean and median RMSE values above are computed only on non-critical comparable cases.
  • The win counts above follow the same composite winner rule used in the per-case table below.
  • epica has a much lower median aligned RMSE.
  • Excluding critical cases removes the heavy-tailed failure regime and gives a clearer view of normal-case performance.

Aligned RMSE scatter

Aligned RMSE scatter on non-critical comparable cases. Points below the diagonal favor epica.

Aligned RMSE ECDF

Aligned RMSE ECDF on non-critical comparable cases. A left-shifted curve indicates better overall error distribution.

Notes:

  • critical: cases whose EPICA runs are flagged as unreliable in the current reporting logic, typically due to severe scale mismatch, very high Step-3 error, or other strong failure indicators.
  • non-critical: comparable cases that are not labeled critical; this includes both ok and warning cases and is used here to focus on normal-case performance rather than extreme failure tails.

Winner rule:

  • If the aligned RMSE gap is larger than 5%, the lower aligned RMSE wins.
  • If aligned RMSE is close, the higher improvement percentage wins when the gap is larger than 5 percentage points.
  • If both are still close, the side with more matched pairs wins when the gap is meaningful.
  • Otherwise the result is marked as tie.

Per-Dataset Comparison

Dataset Non-critical cases Critical cases Mean RMSE
epica / evo (m, ↓)		 Median RMSE
epica / evo (m, ↓)		 Wins
epica / evo (↑)
euroc_mav 21 1 0.197 / 1.971 0.156 / 0.374 14 / 0
grand_tour 52 16 3.537 / 5.073 2.576 / 3.937 26 / 2
uzh_fpv 30 0 1.058 / 8.159 0.640 / 6.712 29 / 1
lamaria 0 19 N/A N/A N/A

Interpretation:

  • Our toolkit epica is stronger on all three non-critical dataset slices: uzh_fpv, grand_tour, and euroc_mav.
  • Dataset lamaria is excluded from the non-critical comparison because all comparable cases in the current run are classified as critical.
  • Ties are omitted from the dataset win column; in the current run they are 7 for euroc_mav, 24 for grand_tour, and 0 for uzh_fpv.

Per-dataset boxplot

Per-dataset aligned RMSE distribution for non-critical comparable cases.

Win tie loss stacked bar

Win / tie / loss counts under the benchmark-study winner rule.

Per-Case Comparison

Improvement boxplot

Improvement percentage distribution, added as an extra view for quick comparison.

The following table shows per-case benchmark comparison results for non-critical cases only.

case (103 total) Alert Signal (EPA) Aligned RMSE epica / evo (m, ↓) Improvement epica / evo (%, ↑) Time Offset epica / evo (s, N/A) Matched Pairs epica / evo (↑) Winner
euroc_mav_MH_01_easy_rovio ok 0.266 / 0.268 95.52 / 95.48 -0.002 / 0.050 3638 / 3639 tie
euroc_mav_MH_03_medium_rovio ok 0.337 / 0.374 94.23 / 93.60 -0.001 / 0.150 2631 / 2631 epica
euroc_mav_MH_04_difficult_rovio warning 0.608 / 6.565 96.25 / 55.34 -0.003 / -20.000 1976 / 1597 epica
euroc_mav_MH_05_difficult_rovio warning 0.568 / 7.280 96.63 / 52.10 -0.001 / 20.000 2222 / 1849 epica
euroc_mav_V1_01_easy_rovio ok 0.137 / 2.192 96.64 / 30.03 -0.002 / -15.300 2894 / 2604 epica
euroc_mav_V1_02_medium_rovio ok 0.156 / 1.885 95.51 / 16.16 -0.002 / -12.500 1671 / 1438 epica
euroc_mav_V1_03_difficult_rovio ok 0.136 / 1.767 95.91 / 28.63 -0.002 / -20.000 2094 / 1712 epica
euroc_mav_V2_01_easy_rovio ok 0.259 / 0.260 86.65 / 86.62 -0.001 / 0.050 2240 / 2240 tie
euroc_mav_V2_02_medium_rovio ok 0.272 / 0.275 85.74 / 85.62 -0.001 / 0.000 2310 / 2310 tie
euroc_mav_V2_03_difficult_rovio ok 0.164 / 0.172 90.51 / 90.04 -0.004 / 0.050 1890 / 1890 tie
euroc_mav_MH_01_easy_svo_stereo ok 0.129 / 0.152 97.91 / 97.54 0.000 / -0.150 3621 / 3624 epica
euroc_mav_MH_02_easy_svo_stereo ok 0.064 / 0.077 98.89 / 98.68 0.000 / -0.050 2999 / 3000 epica
euroc_mav_MH_03_medium_svo_stereo ok 0.173 / 0.245 97.05 / 95.81 0.002 / 0.150 2624 / 2621 epica
euroc_mav_MH_04_difficult_svo_stereo ok 0.152 / 6.688 99.02 / 51.72 0.000 / -20.000 1953 / 1599 epica
euroc_mav_MH_05_difficult_svo_stereo ok 0.172 / 6.960 98.95 / 52.60 0.002 / -20.000 2192 / 1845 epica
euroc_mav_V1_01_easy_svo_stereo ok 0.041 / 2.226 98.97 / 27.18 0.000 / -15.200 2874 / 2608 epica
euroc_mav_V1_02_medium_svo_stereo ok 0.077 / 1.873 97.79 / 13.17 0.000 / -12.450 1671 / 1441 epica
euroc_mav_V1_03_difficult_svo_stereo ok 0.085 / 1.776 97.40 / 24.99 0.000 / -20.000 2076 / 1713 epica
euroc_mav_V2_01_easy_svo_stereo ok 0.055 / 0.052 96.88 / 97.02 0.001 / 0.000 2208 / 2208 tie
euroc_mav_V2_02_medium_svo_stereo ok 0.157 / 0.158 90.70 / 90.61 0.001 / 0.000 2277 / 2277 tie
euroc_mav_V2_03_difficult_svo_stereo ok 0.134 / 0.140 91.95 / 91.55 -0.001 / 0.050 1857 / 1856 tie
grand_tour_2024-10-01-11-29-55_rovio warning 7.572 / 12.375 92.01 / 86.88 0.000 / 20.000 3470 / 3280 epica
grand_tour_2024-10-01-12-00-49_rovio warning 6.540 / 7.399 58.70 / 51.49 0.003 / 10.350 4761 / 4665 epica
grand_tour_2024-11-02-17-10-25_rovio warning 1.766 / 1.757 78.29 / 78.41 -0.005 / 0.400 1785 / 1789 tie
grand_tour_2024-11-02-17-43-10_rovio warning 2.821 / 2.928 74.43 / 73.48 0.001 / -1.850 2267 / 2249 tie
grand_tour_2024-11-03-07-52-45_rovio warning 2.972 / 3.029 88.30 / 88.07 0.004 / 0.000 1848 / 1848 tie
grand_tour_2024-11-03-13-59-54_rovio warning 6.955 / 8.055 52.85 / 42.31 -0.005 / -9.150 3614 / 3523 epica
grand_tour_2024-11-04-13-07-13_rovio warning 3.602 / 4.542 85.41 / 81.38 -0.004 / 18.400 819 / 636 epica
grand_tour_2024-11-04-16-05-00_rovio warning 9.322 / 11.945 66.93 / 53.74 -0.001 / 20.000 2060 / 1860 epica
grand_tour_2024-11-11-14-29-44_rovio warning 8.898 / 9.004 88.86 / 88.74 0.000 / 0.750 3532 / 3532 tie
grand_tour_2024-11-14-12-01-26_rovio warning 9.156 / 9.851 56.31 / 50.84 0.000 / 19.100 4588 / 4399 epica
grand_tour_2024-11-14-14-36-02_rovio warning 9.137 / 9.137 69.68 / 69.71 0.001 / -0.050 4787 / 4787 tie
grand_tour_2024-11-14-15-22-43_rovio warning 6.132 / 6.127 90.45 / 90.47 0.000 / -0.100 3970 / 3970 tie
grand_tour_2024-11-15-10-16-35_rovio warning 9.803 / 9.811 73.52 / 73.54 -0.003 / 1.400 4761 / 4761 tie
grand_tour_2024-11-15-12-06-03_rovio warning 2.299 / 2.455 29.49 / 20.36 0.000 / -3.600 2225 / 2189 epica
grand_tour_2024-11-15-14-43-52_rovio warning 3.240 / 3.230 94.76 / 94.77 -0.004 / -0.050 2487 / 2487 tie
grand_tour_2024-11-18-12-05-01_rovio warning 9.308 / 9.436 87.38 / 87.21 -0.003 / 1.000 4461 / 4461 tie
grand_tour_2024-11-18-15-46-05_rovio warning 3.927 / 3.925 36.38 / 36.39 0.000 / 0.000 4103 / 4103 tie
grand_tour_2024-11-18-16-59-23_rovio warning 5.795 / 8.764 79.87 / 66.90 0.003 / 20.000 4042 / 3850 epica
grand_tour_2024-11-25-14-57-08_rovio warning 3.339 / 3.343 48.74 / 48.72 0.003 / -0.200 3238 / 3236 tie
grand_tour_2024-11-25-16-36-19_rovio warning 7.862 / 7.867 73.61 / 73.60 0.007 / 0.000 4354 / 4354 tie
grand_tour_2024-12-03-13-26-40_rovio warning 5.873 / 7.648 75.99 / 68.03 0.006 / -11.750 2845 / 2728 epica
grand_tour_2024-10-01-11-29-55_svo_stereo warning 0.809 / 10.454 99.17 / 89.18 0.002 / 20.000 3451 / 3260 epica
grand_tour_2024-11-02-17-10-25_svo_stereo ok 0.129 / 0.450 98.28 / 93.97 -0.002 / -1.350 1786 / 1772 epica
grand_tour_2024-11-02-17-43-10_svo_stereo warning 0.745 / 5.678 95.43 / 64.67 0.002 / -17.650 2250 / 2092 epica
grand_tour_2024-11-02-21-12-51_svo_stereo warning 3.556 / 3.634 47.65 / 46.47 -0.002 / -1.250 2633 / 2633 tie
grand_tour_2024-11-03-07-52-45_svo_stereo ok 0.150 / 0.285 94.10 / 88.77 0.003 / 0.850 1829 / 1829 epica
grand_tour_2024-11-03-08-17-23_svo_stereo warning 1.334 / 6.811 91.62 / 51.51 0.005 / -15.100 2301 / 2167 epica
grand_tour_2024-11-03-13-59-54_svo_stereo ok 0.300 / 0.905 92.90 / 78.10 -0.001 / -1.550 3606 / 3600 epica
grand_tour_2024-11-04-10-57-34_svo_stereo warning 0.401 / 0.487 92.51 / 90.92 0.001 / 0.400 4686 / 4686 epica
grand_tour_2024-11-04-12-55-59_svo_stereo warning 1.203 / 1.205 98.28 / 98.27 0.005 / -0.450 5195 / 5195 tie
grand_tour_2024-11-04-13-07-13_svo_stereo warning 0.555 / 4.699 98.18 / 83.94 -0.002 / 20.000 805 / 608 epica
grand_tour_2024-11-04-16-05-00_svo_stereo warning 0.429 / 13.201 99.04 / 69.58 0.002 / -20.000 2056 / 2060 epica
grand_tour_2024-11-11-12-07-40_svo_stereo warning 2.444 / 2.500 97.19 / 97.13 -0.003 / 0.700 9593 / 9593 tie
grand_tour_2024-11-11-12-42-47_svo_stereo warning 2.308 / 2.527 96.04 / 95.67 0.001 / -0.900 4092 / 4092 epica
grand_tour_2024-11-11-14-29-44_svo_stereo warning 1.509 / 1.533 98.25 / 98.23 0.002 / -1.050 3523 / 3523 tie
grand_tour_2024-11-14-12-01-26_svo_stereo warning 3.929 / 3.948 89.17 / 89.12 0.001 / 0.150 4585 / 4585 tie
grand_tour_2024-11-14-14-36-02_svo_stereo warning 2.707 / 2.728 91.11 / 91.05 0.003 / -0.250 4786 / 4786 tie
grand_tour_2024-11-14-15-22-43_svo_stereo warning 1.357 / 1.436 98.17 / 98.07 0.003 / -0.700 3965 / 3965 epica
grand_tour_2024-11-14-16-04-09_svo_stereo warning 1.217 / 14.176 98.54 / 82.87 0.009 / -19.950 4882 / 4687 epica
grand_tour_2024-11-15-10-16-35_svo_stereo warning 0.842 / 0.839 98.09 / 98.10 0.000 / -0.200 4731 / 4731 tie
grand_tour_2024-11-15-11-18-14_svo_stereo warning 0.794 / 0.839 97.93 / 97.81 0.000 / 0.550 2942 / 2942 epica
grand_tour_2024-11-15-11-37-15_svo_stereo warning 1.152 / 1.077 95.46 / 95.76 0.001 / 0.300 5217 / 5217 evo
grand_tour_2024-11-15-12-06-03_svo_stereo warning 1.001 / 1.313 68.78 / 56.90 0.002 / -2.900 2209 / 2197 epica
grand_tour_2024-11-15-14-14-12_svo_stereo warning 0.675 / 7.734 98.80 / 86.16 0.006 / -20.000 5415 / 5215 epica
grand_tour_2024-11-15-14-43-52_svo_stereo warning 6.038 / 5.757 90.24 / 90.70 -0.002 / -1.650 2472 / 2472 tie
grand_tour_2024-11-15-16-41-14_svo_stereo warning 3.130 / 3.103 91.37 / 91.45 0.025 / 0.050 5426 / 5427 tie
grand_tour_2024-11-18-12-05-01_svo_stereo warning 6.518 / 6.630 88.56 / 88.37 -0.009 / 0.900 4456 / 4456 tie
grand_tour_2024-11-18-16-59-23_svo_stereo warning 7.309 / 7.406 62.50 / 62.00 0.006 / 1.450 4038 / 4030 tie
grand_tour_2024-11-25-14-57-08_svo_stereo warning 1.300 / 1.293 17.37 / 17.16 0.004 / -0.350 3227 / 3227 tie
grand_tour_2024-11-25-16-36-19_svo_stereo warning 1.077 / 1.134 97.67 / 97.55 0.009 / -0.600 4349 / 4349 epica
grand_tour_2024-12-03-13-15-38_svo_stereo warning 2.051 / 1.878 93.90 / 94.42 0.006 / 0.750 5152 / 5152 evo
grand_tour_2024-12-03-13-26-40_svo_stereo warning 0.641 / 5.499 97.35 / 76.83 0.008 / -9.850 2834 / 2748 epica
uzh_fpv_indoor_forward_10_snapdragon_with_gt_rovio warning 0.365 / 7.661 98.34 / 50.27 0.000 / 20.000 820 / 836 epica
uzh_fpv_indoor_forward_3_snapdragon_with_gt_rovio warning 0.629 / 6.989 97.20 / 60.41 -0.015 / 18.700 1333 / 1382 epica
uzh_fpv_indoor_forward_5_snapdragon_with_gt_rovio warning 0.407 / 6.114 98.08 / 54.38 -0.004 / 8.650 530 / 542 epica
uzh_fpv_indoor_forward_6_snapdragon_with_gt_rovio warning 0.440 / 8.153 98.13 / 53.23 -0.015 / 20.000 817 / 881 epica
uzh_fpv_indoor_forward_7_snapdragon_with_gt_rovio warning 1.175 / 8.096 94.89 / 59.57 -0.015 / 20.000 1735 / 1752 epica
uzh_fpv_indoor_forward_9_snapdragon_with_gt_rovio warning 0.372 / 6.841 97.87 / 49.45 -0.008 / 20.000 767 / 802 epica
uzh_fpv_indoor_forward_10_snapdragon_with_gt_svo_stereo warning 1.692 / 7.384 91.45 / 50.03 0.000 / 20.000 820 / 836 epica
uzh_fpv_indoor_forward_3_snapdragon_with_gt_svo_stereo ok 0.316 / 7.270 98.60 / 59.20 0.000 / 18.550 1333 / 1382 epica
uzh_fpv_indoor_forward_5_snapdragon_with_gt_svo_stereo warning 1.298 / 6.031 93.27 / 55.03 0.000 / 8.150 530 / 542 epica
uzh_fpv_indoor_forward_6_snapdragon_with_gt_svo_stereo warning 0.705 / 7.741 96.83 / 54.61 -0.002 / 15.750 817 / 874 epica
uzh_fpv_indoor_forward_7_snapdragon_with_gt_svo_stereo warning 0.540 / 7.686 97.55 / 59.92 -0.001 / 20.000 1736 / 1752 epica
uzh_fpv_indoor_forward_9_snapdragon_with_gt_svo_stereo warning 1.696 / 4.920 89.04 / 63.37 -0.002 / 5.000 767 / 783 epica
uzh_fpv_indoor_45_12_snapdragon_with_gt_rovio warning 9.237 / 6.582 50.64 / 51.75 -0.012 / 15.150 1077 / 1112 evo
uzh_fpv_indoor_45_13_snapdragon_with_gt_rovio warning 0.329 / 2.467 96.87 / 75.47 -0.015 / -0.650 1037 / 1038 epica
uzh_fpv_indoor_45_14_snapdragon_with_gt_rovio warning 0.529 / 2.830 95.34 / 73.56 -0.016 / -0.550 1026 / 1028 epica
uzh_fpv_indoor_45_2_snapdragon_with_gt_rovio warning 0.532 / 5.726 96.52 / 58.21 -0.016 / -1.950 1265 / 1258 epica
uzh_fpv_indoor_45_4_snapdragon_with_gt_rovio warning 0.452 / 5.348 96.91 / 59.91 -0.007 / -1.800 1154 / 1155 epica
uzh_fpv_indoor_45_12_snapdragon_with_gt_svo_stereo warning 0.732 / 2.253 92.86 / 77.03 0.000 / -1.000 1077 / 1076 epica
uzh_fpv_indoor_45_13_snapdragon_with_gt_svo_stereo warning 0.651 / 2.296 93.65 / 76.79 0.000 / -0.600 1037 / 1038 epica
uzh_fpv_indoor_45_14_snapdragon_with_gt_svo_stereo warning 1.086 / 2.559 89.86 / 75.15 0.000 / -0.450 1026 / 1028 epica
uzh_fpv_indoor_45_2_snapdragon_with_gt_svo_stereo warning 0.510 / 4.482 96.36 / 65.49 -0.001 / -1.400 1265 / 1260 epica
uzh_fpv_indoor_45_4_snapdragon_with_gt_svo_stereo warning 0.453 / 4.785 96.85 / 64.20 0.002 / -1.600 1154 / 1155 epica
uzh_fpv_outdoor_forward_1_snapdragon_with_gt_rovio warning 0.726 / 16.105 98.45 / 54.50 0.004 / 14.450 1165 / 1188 epica
uzh_fpv_outdoor_forward_3_snapdragon_with_gt_rovio warning 0.732 / 18.317 98.75 / 64.48 -0.003 / 15.550 2224 / 2275 epica
uzh_fpv_outdoor_forward_5_snapdragon_with_gt_rovio warning 0.905 / 23.067 98.68 / 25.80 0.000 / 8.350 446 / 464 epica
uzh_fpv_outdoor_forward_1_snapdragon_with_gt_svo_stereo warning 1.235 / 15.678 97.21 / 53.79 0.010 / 13.650 1166 / 1185 epica
uzh_fpv_outdoor_forward_3_snapdragon_with_gt_svo_stereo warning 1.856 / 18.603 96.81 / 63.50 0.000 / 15.550 2223 / 2274 epica
uzh_fpv_outdoor_forward_5_snapdragon_with_gt_svo_stereo warning 1.366 / 22.841 97.92 / 25.57 0.001 / 8.100 446 / 464 epica
uzh_fpv_outdoor_45_1_snapdragon_with_gt_rovio warning 0.494 / 2.487 96.10 / 80.30 0.000 / -0.350 507 / 504 epica
uzh_fpv_outdoor_45_1_snapdragon_with_gt_svo_stereo ok 0.273 / 3.456 98.13 / 75.37 0.000 / -0.500 498 / 493 epica

Critical Cases

The following table lists cases that are classified as critical by the EPICA alert logic. These cases are kept separate from the main per-case comparison because they belong to the heavy-tail failure regime. Their winner field is marked as n/a.

case (36 total) Alert Signal (EPA) Aligned RMSE epica / evo (m, ↓) Improvement epica / evo (%, ↑) Time Offset epica / evo (s, N/A) Matched Pairs epica / evo (↑) Winner
euroc_mav_MH_02_easy_rovio critical 38952.190 / 28047.708 27.74 / 27.18 -0.002 / 20.000 3000 / 2618 n/a
grand_tour_2024-11-02-21-12-51_rovio critical 11.818 / 12.885 68.46 / 65.39 -0.002 / 19.950 2647 / 2460 n/a
grand_tour_2024-11-03-08-17-23_rovio critical 33.473 / 33.564 31.18 / 31.19 0.004 / 4.300 2316 / 2316 n/a
grand_tour_2024-11-04-10-57-34_rovio critical 10.659 / 10.709 48.69 / 48.37 -0.001 / 2.000 4689 / 4680 n/a
grand_tour_2024-11-04-12-55-59_rovio critical 13.508 / 13.652 73.47 / 73.18 0.002 / -0.450 5205 / 5205 n/a
grand_tour_2024-11-11-12-07-40_rovio critical 231646.600 / 231366.822 21.40 / 20.68 -0.006 / 20.000 9593 / 9401 n/a
grand_tour_2024-11-11-12-42-47_rovio critical 9670.280 / 8149.411 17.04 / 16.02 -0.001 / 19.950 4099 / 3920 n/a
grand_tour_2024-11-14-11-17-02_rovio critical 17.071 / 20.977 79.70 / 75.02 0.001 / 18.200 5284 / 5116 n/a
grand_tour_2024-11-14-16-04-09_rovio critical 15.951 / 15.940 80.72 / 80.74 0.006 / -0.050 4886 / 4886 n/a
grand_tour_2024-11-15-11-18-14_rovio critical 15.451 / 14.573 61.88 / 63.76 -0.002 / 20.000 2954 / 2760 n/a
grand_tour_2024-11-15-11-37-15_rovio critical 10.540 / 10.522 57.19 / 57.26 -0.002 / -0.050 5216 / 5216 n/a
grand_tour_2024-11-15-14-14-12_rovio critical 21652.802 / 20538.061 26.77 / 26.13 -0.002 / 20.000 5415 / 5220 n/a
grand_tour_2024-11-15-16-41-14_rovio critical 11.095 / 11.109 73.84 / 73.81 0.007 / 0.550 5425 / 5425 n/a
grand_tour_2024-12-03-13-15-38_rovio critical 16.387 / 15.959 61.82 / 62.83 0.003 / -2.250 5152 / 5130 n/a
grand_tour_2024-10-01-12-00-49_svo_stereo critical 36.644 / 36.653 76.50 / 76.49 0.003 / -0.150 4761 / 4761 n/a
grand_tour_2024-11-14-11-17-02_svo_stereo critical 12.095 / 14.430 86.72 / 84.13 0.003 / 9.100 5285 / 5207 n/a
grand_tour_2024-11-18-15-46-05_svo_stereo critical 35314.373 / 73993.197 1.03 / 0.05 -0.003 / 11.300 1331 / 1331 n/a
lamaria_sequence_1_19_svo_mono critical 11.572 / 20.788 97.62 / 95.68 0.009 / -19.450 2906 / 2915 n/a
lamaria_sequence_1_20_svo_mono critical 92.767 / 92.618 82.43 / 82.47 0.005 / 17.550 3037 / 3036 n/a
lamaria_sequence_2_11_svo_mono critical 4358.922 / 1053.053 2.15 / 15.35 0.012 / 14.500 3848 / 3863 n/a
lamaria_sequence_2_12_svo_mono critical 36890.059 / 868.297 -0.38 / 15.48 -0.051 / -17.000 2553 / 2877 n/a
lamaria_sequence_3_17_svo_mono critical 6268.453 / 36.749 0.02 / 92.42 0.011 / -19.100 5893 / 5927 n/a
lamaria_sequence_3_18_svo_mono critical 37.234 / 34.760 92.41 / 92.82 0.008 / 19.500 5550 / 5471 n/a
lamaria_sequence_4_10_svo_mono critical 133747.694 / 21425.686 0.38 / 3.81 0.013 / 19.550 3883 / 3852 n/a
lamaria_sequence_4_11_svo_mono critical 1197499.986 / 915750.508 19.27 / 16.70 0.025 / 6.750 0 / 2209 n/a
lamaria_sequence_1_19_svo_mono critical 11.572 / 20.788 97.62 / 95.68 0.009 / -19.450 2906 / 2915 n/a
lamaria_sequence_1_20_svo_mono critical 92.767 / 92.618 82.43 / 82.47 0.005 / 17.550 3037 / 3036 n/a
lamaria_sequence_2_11_svo_mono critical 4358.922 / 1053.053 2.15 / 15.35 0.012 / 14.500 3848 / 3863 n/a
lamaria_sequence_2_12_svo_mono critical 36890.059 / 868.297 -0.38 / 15.48 -0.051 / -17.000 2553 / 2877 n/a
lamaria_sequence_3_17_svo_mono critical 6268.453 / 36.749 0.02 / 92.42 0.011 / -19.100 5893 / 5927 n/a
lamaria_sequence_3_18_svo_mono critical 37.234 / 34.760 92.41 / 92.82 0.008 / 19.500 5550 / 5471 n/a
lamaria_sequence_4_10_svo_mono critical 133747.694 / 21425.686 0.38 / 3.81 0.013 / 19.550 3883 / 3852 n/a
lamaria_sequence_4_11_svo_mono critical 1197499.986 / 915750.508 19.27 / 16.70 0.025 / 6.750 0 / 2209 n/a
lamaria_R_11_5cp_svo_mono critical 21.163 / 23.872 95.49 / 94.89 0.021 / -18.000 0 / 1548 n/a
lamaria_R_12_10cp_svo_mono critical 1737.041 / 1028.480 5.53 / 13.49 0.013 / -4.000 3224 / 3235 n/a
lamaria_R_13_15cp_svo_mono critical 29.527 / 25.591 82.74 / 84.90 0.014 / -19.000 4286 / 4266 n/a

Notes

  • This study compares the current epica pipeline against evo using the same discovered cases.
  • epica and evo do not share time offsets; each method uses its own time-alignment logic.