• The environment is composed of a starting area and multiple challenge areas.
  • The chessboard marker included in OpenCV 3.0.0 is placed at the starting area. The chessboard marker is printed on A0 and the size of a square is 10 cm.
  • The world coordinate system is calibrated with a Total Station and defined on the chessboard marker as follows.

Given information

  • The 3D coordinates of challenge points in the world coordinate system.

The size and the coordinates are given in millimeters.


  1. Receive the 3D coordinates of challenge points provided by a USB memory, and copy them to your SLAM system.
  2. Declare start.
  3. Register the world coordinate system with your SLAM system at the starting area.
  4. Annotate the challenge points with AR on the display of your device.
  5. Move your device to find the challenge points in a specified order.
  6. Mark up each challenge point (e.g. put a sticker) in the environment.
  7. Declare end.

Device requirements

  • To visualize the annotations of challenge points, the device must consist of one display (e.g. a mobile phone, a tablet, a laptop, an head-mounted display, a mobile display or a mobile projector).
  • The device must send a live video with the annotations through HDMI or mini-HDMI port to show it to the jury and audience. A wireless HDMI video transmitter will be provided to be attached with the device.
  • The device must be mobile and stand alone. During the competition, one of the participants must keep wearing, lifting, or shouldering the whole system without putting it on the floor. Any cables connecting to the environment, even for power supply, is not available.
  • Any infrastructure such as additional markers and WiFi access points cannot be installed in the environment.
  • Any number of cameras, inertial sensors and depth sensors are allowed to be used.


  • The annotations of challenge points must be visualized on the display in a specified order.
  • The annotation of only the current challenge point must be visualized at any one time.
  • The annotations must be simple 2D or 3D objects. All other forms of visualization or other outputs (e.g. text output, world in miniature etc.) are prohibited.
  • If challenge points are outside the user’s field of vision, a suitable navigation instrument may be visualized.
  • Challenge points must be marked up only where their annotations are visualized on the display, not by guesswork.
  • Challenge points may be skipped. The skipped challenge points cannot be identified never again.
  • If the tracking process is aborted, a re-initialization is allowed, although the time will continue to run.
  • The location of the chessboard marker is allowed to be visualized only at the starting area.
  • The order of participants is determined by lot.
  • Participants may be present during other participants’ competitions.
  • It cannot be guaranteed that lighting and background conditions are same for all the participants.