{"id":"https://openalex.org/W4392623958","doi":"https://doi.org/10.1007/s10846-024-02077-4","title":"How Challenging is a Challenge? CEMS: a Challenge Evaluation Module for SLAM Visual Perception","display_name":"How Challenging is a Challenge? CEMS: a Challenge Evaluation Module for SLAM Visual Perception","publication_year":2024,"publication_date":"2024-03-01","ids":{"openalex":"https://openalex.org/W4392623958","doi":"https://doi.org/10.1007/s10846-024-02077-4"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-024-02077-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02077-4","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-024-02077-4","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032733287","display_name":"Xuhui Zhao","orcid":"https://orcid.org/0000-0001-8401-9718"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuhui Zhao","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0001-8401-9718","affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084683976","display_name":"Zhi Gao","orcid":"https://orcid.org/0000-0003-3325-1183"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhi Gao","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0003-3325-1183","affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100348588","display_name":"Hao Li","orcid":"https://orcid.org/0000-0002-4019-3420"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Li","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012748011","display_name":"Hong Ji","orcid":"https://orcid.org/0000-0002-1640-2894"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Ji","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101502138","display_name":"Hong Yang","orcid":"https://orcid.org/0000-0002-8879-5025"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Yang","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100094, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100657815","display_name":"Chen-Yang Li","orcid":"https://orcid.org/0000-0003-0770-1590"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyang Li","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, 430079, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hao Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Fang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100428803","display_name":"Ben M. Chen","orcid":"https://orcid.org/0000-0002-3839-5787"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ben M.\u00a0Chen","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, 999077, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, 999077, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5084683976"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":10.3832,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.97364885,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"110","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7246004939079285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6770856976509094},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5620095729827881},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5466048717498779},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4536927342414856},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.43653711676597595},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4195643365383148},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38845741748809814},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33915144205093384},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21332180500030518},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08373302221298218}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7246004939079285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6770856976509094},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5620095729827881},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5466048717498779},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4536927342414856},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.43653711676597595},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4195643365383148},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38845741748809814},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33915144205093384},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21332180500030518},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08373302221298218}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-024-02077-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02077-4","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-024-02077-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02077-4","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W44782581","https://openalex.org/W1423380280","https://openalex.org/W1544385957","https://openalex.org/W1574447377","https://openalex.org/W1580436348","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W2021851106","https://openalex.org/W2028527011","https://openalex.org/W2058535340","https://openalex.org/W2104526136","https://openalex.org/W2115579991","https://openalex.org/W2129644086","https://openalex.org/W2141983208","https://openalex.org/W2161123599","https://openalex.org/W2396274919","https://openalex.org/W2419212966","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2519683295","https://openalex.org/W2572649260","https://openalex.org/W2615547864","https://openalex.org/W2737223639","https://openalex.org/W2738259787","https://openalex.org/W2738970069","https://openalex.org/W2768340063","https://openalex.org/W2802922942","https://openalex.org/W2909157769","https://openalex.org/W2945864190","https://openalex.org/W2957049316","https://openalex.org/W2968885765","https://openalex.org/W2970602030","https://openalex.org/W2981635988","https://openalex.org/W3003617082","https://openalex.org/W3004418007","https://openalex.org/W3013410780","https://openalex.org/W3016028173","https://openalex.org/W3034275286","https://openalex.org/W3034882073","https://openalex.org/W3035574168","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3090925395","https://openalex.org/W3094174063","https://openalex.org/W3094797876","https://openalex.org/W3112226520","https://openalex.org/W3128639218","https://openalex.org/W3132270109","https://openalex.org/W3132708911","https://openalex.org/W3154158938","https://openalex.org/W3176622443","https://openalex.org/W3182569554","https://openalex.org/W3185523273","https://openalex.org/W3194617789","https://openalex.org/W3199037603","https://openalex.org/W3207187295","https://openalex.org/W4200546661","https://openalex.org/W4205172069","https://openalex.org/W4206560615","https://openalex.org/W4213291213","https://openalex.org/W4225669925","https://openalex.org/W4281479885","https://openalex.org/W4285102352","https://openalex.org/W4312492713"],"related_works":["https://openalex.org/W2068608913","https://openalex.org/W4295532600","https://openalex.org/W2063823869","https://openalex.org/W2047973478","https://openalex.org/W3124914020","https://openalex.org/W2067569035","https://openalex.org/W2090985514","https://openalex.org/W2141033859","https://openalex.org/W1508899372","https://openalex.org/W2907848307"],"abstract_inverted_index":{"Abstract":[0],"Despite":[1],"promising":[2],"SLAM":[3,29,154,162,179],"research":[4],"in":[5,63],"both":[6],"vision":[7],"and":[8,36,58,108,119,130,146,169,186],"robotics":[9],"communities,":[10],"which":[11],"fundamentally":[12],"sustains":[13],"the":[14,38,79,160,170,199],"autonomy":[15],"of":[16,60,81,139,150,189],"intelligent":[17],"unmanned":[18],"systems,":[19],"visual":[20,82,101],"challenges":[21,35,114],"still":[22],"threaten":[23],"its":[24],"robust":[25],"operation":[26],"severely.":[27],"Existing":[28],"methods":[30],"usually":[31],"focus":[32],"on":[33,104,164,201],"specific":[34],"solve":[37],"problem":[39],"with":[40,54,68,74,122,142,153,166,184],"sophisticated":[41],"enhancement":[42],"or":[43],"multi-modal":[44],"fusion.":[45],"However,":[46],"they":[47],"are":[48],"basically":[49],"limited":[50],"to":[51,197],"particular":[52],"scenes":[53],"a":[55,64,86,105,136,147],"non-quantitative":[56],"understanding":[57],"awareness":[59],"challenges,":[61],"resulting":[62],"significant":[65],"performance":[66,168],"decline":[67],"poor":[69],"generalization":[70],"and(or)":[71],"redundant":[72],"computation":[73],"inflexible":[75],"mechanisms.":[76],"To":[77],"push":[78],"frontier":[80],"SLAM,":[83],"we":[84,158],"propose":[85],"fully":[87],"computational":[88],"reliable":[89],"evaluation":[90],"module":[91,134],"called":[92],"CEMS":[93,165],"(Challenge":[94,174],"Evaluation":[95,175],"Module":[96],"for":[97,99,177],"SLAM)":[98],"general":[100],"perception":[102],"based":[103,163],"clear":[106],"definition":[107],"systematic":[109],"analysis.":[110],"It":[111],"decomposes":[112],"various":[113,190],"into":[115],"several":[116],"common":[117,178],"aspects":[118],"evaluates":[120],"degradation":[121],"corresponding":[123],"indicators.":[124],"Extensive":[125],"experiments":[126],"demonstrate":[127],"our":[128,202],"feasibility":[129],"outperformance.":[131],"The":[132],"proposed":[133],"has":[135],"high":[137],"consistency":[138],"88.298%":[140],"compared":[141,152],"annotation":[143],"ground":[144],"truth,":[145],"strong":[148],"correlation":[149],"0.879":[151],"tracking":[155],"performance.":[156],"Moreover,":[157],"show":[159],"prototype":[161],"better":[167],"first":[171],"comprehensive":[172],"CET":[173],"Table)":[176],"datasets":[180],"(EuRoC,":[181],"KITTI,":[182],"etc.)":[183],"objective":[185],"fair":[187],"evaluations":[188],"challenges.":[191],"We":[192],"make":[193],"it":[194],"available":[195],"online":[196],"benefit":[198],"community":[200],"website.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
