VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM

doi:10.1109/LRA.2022.3186770

	VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM
	Ling Gao1,2,3 ; Yuxuan Liang 1,4; Jiaqi Yang1 ; Shaoxun Wu1 ; Chenyu Wang1 ; Jiaben Chen1 ; Laurent Kneip1,5
	2022-07-01
发表期刊	IEEE ROBOTICS AND AUTOMATION LETTERS (IF:4.6[JCR-2023],5.5[5-Year])
ISSN	2377-3774
卷号	7 期号:3 页码:1-8
发表状态	已发表
DOI	10.1109/LRA.2022.3186770
摘要	Event cameras have recently gained in popularity as they hold strong potential to complement regular cameras in situations of high dynamics or challenging illumination. An important problem that may benefit from the addition of an event camera is given by Simultaneous Localization And Mapping (SLAM). However, in order to ensure progress on event-inclusive multi-sensor SLAM, novel benchmark sequences are needed. Our contribution is the first complete set of benchmark datasets captured with a multi-sensor setup containing an event-based stereo camera, a regular stereo camera, multiple depth sensors, and an inertial measurement unit. The setup is fully hardware-synchronized and underwent accurate extrinsic calibration. All sequences come with ground truth data captured by highly accurate external reference devices such as a motion capture system. Individual sequences include both small and large-scale environments, and cover the specific challenges targeted by dynamic vision sensors.
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收录类别	SCI ; SCIE ; EI
来源库	IEEE
引用统计	正在获取...
文献类型	期刊论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/206318
专题	信息科学与技术学院信息科学与技术学院_PI研究组_Laurent Kneip组信息科学与技术学院_硕士生信息科学与技术学院_本科生信息科学与技术学院_博士生
作者单位	1.Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China 2.Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China 3.University of Chinese Academy of Sciences, University of Chinese Academy of Sciences, Beijing, China 4.Northwestern University, Evanston, IL, USA 5.Shanghai Engineering Research Center of Intelligent Vision and Imaging, Shanghai, China
第一作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Ling Gao,Yuxuan Liang,Jiaqi Yang,et al. VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(3):1-8.
APA	Ling Gao.,Yuxuan Liang.,Jiaqi Yang.,Shaoxun Wu.,Chenyu Wang.,...&Laurent Kneip.(2022).VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM.IEEE ROBOTICS AND AUTOMATION LETTERS,7(3),1-8.
MLA	Ling Gao,et al."VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM".IEEE ROBOTICS AND AUTOMATION LETTERS 7.3(2022):1-8.