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+## SVO Analysis
+
+#### Download Test Data
+
+Create a folder where you will store all datasets, e.g.:
+
+    mkdir Datasets
+
+In your `.bashrc` script, create a new environment variable pointing to the dataset folder:
+
+    export SVO_DATASET_DIR=${HOME}/Datasets
+
+Source your new `.bashrc` script, go to the new dataset folder and download the test data:
+
+    source `~/.bashrc`
+    cd ${SVO_DATASET_DIR}
+    wget http://rpg.ifi.uzh.ch/datasets/flying_room_1_rig_1.tar.gz -O - | tar -xz
+
+
+#### Run Benchmark
+
+In SVO you need to set the `TRACE` flag to `TRUE` and recompile SVO.
+Afterwards run
+
+    rosrun svo_analysis benchmark.py flying_room_1_fast
+
+The script will create a new folder in `svo_analysis/results/`, run svo on the dataset and save the tracefile in this folder and at the end it will run some scripts to generate plots from the tracefile.
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