{"id":"https://openalex.org/W2789218862","doi":"https://doi.org/10.1109/icra.2018.8460558","title":"SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM","display_name":"SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2789218862","doi":"https://doi.org/10.1109/icra.2018.8460558","mag":"2789218862"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.manchester.ac.uk/portal/en/publications/slambench2(fb5e2c18-9f7c-4add-a395-6b210752cb92).html","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012848825","display_name":"Bruno Bodin","orcid":"https://orcid.org/0000-0002-8762-7513"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Bruno Bodin","raw_affiliation_strings":["School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044205392","display_name":"Harry Wagstaff","orcid":"https://orcid.org/0000-0002-2079-8596"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Harry Wagstaff","raw_affiliation_strings":["School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033362619","display_name":"Sajad Saecdi","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sajad Saecdi","raw_affiliation_strings":["Department of Computing, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008975166","display_name":"Luigi Nardi","orcid":"https://orcid.org/0000-0002-4601-2264"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luigi Nardi","raw_affiliation_strings":["Electrical Engineering - Computer Systems, Stanford University, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering - Computer Systems, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054607507","display_name":"Emanuele Vespa","orcid":"https://orcid.org/0000-0002-9741-9603"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Emanuele Vespa","raw_affiliation_strings":["Department of Computing, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064397225","display_name":"John Mawer","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"John Mawer","raw_affiliation_strings":["School of Computer Science, University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109478699","display_name":"Andy Nisbet","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andy Nisbet","raw_affiliation_strings":["School of Computer Science, University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026069638","display_name":"Mikel Luj\u00e1n","orcid":"https://orcid.org/0000-0002-0842-1083"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mikel Lujan","raw_affiliation_strings":["School of Computer Science, University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083177159","display_name":"Steve Furber","orcid":"https://orcid.org/0000-0002-6524-3367"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Steve Furber","raw_affiliation_strings":["School of Computer Science, University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108137333","display_name":"Andrew J. Davison","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew J. Davison","raw_affiliation_strings":["Department of Computing, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000319133","display_name":"Paul H. J. Kelly","orcid":"https://orcid.org/0000-0001-5905-1804"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul H. J. Kelly","raw_affiliation_strings":["Department of Computing, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108135714","display_name":"Michael O\u2019Boyle","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael F. P. O'Boyle","raw_affiliation_strings":["School of Computer Science, University of Manchester, UK"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5012848825"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":90.5249,"has_fulltext":true,"cited_by_count":71,"citation_normalized_percentile":{"value":0.99878872,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3637","last_page":"3644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9951000213623047,"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/benchmarking","display_name":"Benchmarking","score":0.8480452299118042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8151813745498657},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7340339422225952},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5503590703010559},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5200181007385254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5121722221374512},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.49582943320274353},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4405181407928467},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.42676809430122375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34307539463043213},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2939295172691345},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08843716979026794},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.08343008160591125}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8480452299118042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8151813745498657},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7340339422225952},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5503590703010559},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5200181007385254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5121722221374512},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.49582943320274353},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4405181407928467},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.42676809430122375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34307539463043213},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2939295172691345},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08843716979026794},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.08343008160591125},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/icra.2018.8460558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/fb5e2c18-9f7c-4add-a395-6b210752cb92","is_oa":true,"landing_page_url":null,"pdf_url":"https://www.research.manchester.ac.uk/portal/en/publications/slambench2(fb5e2c18-9f7c-4add-a395-6b210752cb92).html","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.atira.dk:publications/fb5e2c18-9f7c-4add-a395-6b210752cb92","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/fb5e2c18-9f7c-4add-a395-6b210752cb92","pdf_url":"https://www.research.manchester.ac.uk/portal/en/publications/slambench2(fb5e2c18-9f7c-4add-a395-6b210752cb92).html","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Bodin, B, Wagstaff, H, Saecdi, S, Nardi, L, Vespa, E, Mawer, J, Nisbet, A, Lujan, M, Furber, S, Davison, A J, Kelly, P H J & O'Boyle, M F P 2018, SLAMBench2 : Multi-Objective Head-to-Head Benchmarking for Visual SLAM. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460558, IEEE, pp. 3637-3644, 2018 IEEE International Conference on Robotics and Automation, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8460558","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.ed.ac.uk:publications/c3d189db-68ae-4182-8e46-d812db2955c9","is_oa":false,"landing_page_url":"https://hdl.handle.net/20.500.11820/c3d189db-68ae-4182-8e46-d812db2955c9","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.ed.ac.uk:publications/c3d189db-68ae-4182-8e46-d812db2955c9","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/c3d189db-68ae-4182-8e46-d812db2955c9","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Bodin, B, Wagstaff, H, Saeedi, S, Nardi, L, Vespa, E, Mayer, J H, Nisbet, A, Luj\u00e1n, M, Furber, S, Davison, A J, Kelly, P H J & O'Boyle, M 2018, SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM. in The International Conference in Robotics and Automation 2018. Institute of Electrical and Electronics Engineers, Brisbane, QLD, Australia, pp. 3637-3644, 2018 IEEE International Conference on Robotics and Automation, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8460558","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/64308","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/64308","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:publications/fb5e2c18-9f7c-4add-a395-6b210752cb92","is_oa":true,"landing_page_url":null,"pdf_url":"https://www.research.manchester.ac.uk/portal/en/publications/slambench2(fb5e2c18-9f7c-4add-a395-6b210752cb92).html","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1934935867","display_name":null,"funder_award_id":"Engineering and Physical Sciences R","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G216287163","display_name":"PAMELA: a Panoramic Approach to the Many-CorE LAndsape - from end-user to end-device: a holistic game-changing approach","funder_award_id":"EP/K008730/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6368762450","display_name":null,"funder_award_id":"EP/K008730/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2789218862.pdf","grobid_xml":"https://content.openalex.org/works/W2789218862.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W83535271","https://openalex.org/W612478963","https://openalex.org/W1536078990","https://openalex.org/W1612997784","https://openalex.org/W1625949922","https://openalex.org/W1921093919","https://openalex.org/W1987648924","https://openalex.org/W2006548260","https://openalex.org/W2021851106","https://openalex.org/W2038328483","https://openalex.org/W2058535340","https://openalex.org/W2091790851","https://openalex.org/W2100119371","https://openalex.org/W2100218206","https://openalex.org/W2117228865","https://openalex.org/W2124347077","https://openalex.org/W2141584146","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2250172176","https://openalex.org/W2336416123","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2511419816","https://openalex.org/W2535547924","https://openalex.org/W2586181036","https://openalex.org/W2729067184","https://openalex.org/W2784112303","https://openalex.org/W2901136733","https://openalex.org/W2908371837","https://openalex.org/W3098820576","https://openalex.org/W3100760381","https://openalex.org/W3102327032","https://openalex.org/W3124420883","https://openalex.org/W4236855403","https://openalex.org/W6640476174","https://openalex.org/W6656063324","https://openalex.org/W6665175149","https://openalex.org/W6681934335","https://openalex.org/W6691696098","https://openalex.org/W6733044246","https://openalex.org/W6740444568","https://openalex.org/W6748019938","https://openalex.org/W6756486208","https://openalex.org/W6785359153","https://openalex.org/W6785880883"],"related_works":["https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W2809055700","https://openalex.org/W2990775658","https://openalex.org/W3192389065","https://openalex.org/W2921358899","https://openalex.org/W4225747367","https://openalex.org/W2793342246","https://openalex.org/W4289530584","https://openalex.org/W3094334615"],"abstract_inverted_index":{"SLAM":[0,18,50,90,119,164],"is":[1,45,81,123,134,143],"becoming":[2],"a":[3,14,38,46,61,67,72,82,105,144,150],"key":[4],"component":[5],"of":[6,17,32,41,101,111,117],"robotics":[7],"and":[8,56,88,94,107,121,130,136,156],"augmented":[9],"reality":[10],"(AR)":[11],"systems.":[12,165],"While":[13],"large":[15],"number":[16],"algorithms":[19,120],"have":[20,53],"been":[21,25],"presented,":[22],"there":[23],"has":[24,66],"little":[26],"effort":[27],"to":[28,36,85,160],"unify":[29],"the":[30,140],"interface":[31],"such":[33],"algorithms,":[34],"or":[35],"perform":[37],"holistic":[39],"comparison":[40],"their":[42],"capabilities.":[43],"This":[44],"problem":[47],"since":[48],"different":[49,54],"applications":[51],"can":[52],"functional":[55],"non-functional":[57],"requirements.":[58],"For":[59],"example,":[60],"mobile":[62],"phone-based":[63],"AR":[64],"application":[65],"tight":[68],"energy":[69],"budget,":[70],"while":[71,103],"UAV":[73],"navigation":[74],"system":[75],"usually":[76],"requires":[77],"high":[78],"accuracy.":[79],"SLAMBench2":[80,142],"benchmarking":[83],"framework":[84,147],"evaluate":[86],"existing":[87,118],"future":[89],"systems,":[91],"both":[92],"open":[93],"close":[95],"source,":[96],"over":[97],"an":[98],"extensible":[99],"list":[100,110],"datasets,":[102],"using":[104],"comparable":[106,155],"clearly":[108,137],"specified":[109,138],"performance":[112],"metrics.":[113],"A":[114],"wide":[115],"variety":[116],"datasets":[122],"supported,":[124],"e.g.":[125],"ElasticFusion,":[126],"InfiniTAM,":[127],"ORB-SLAM2,":[128],"OKVIS,":[129],"integrating":[131],"new":[132],"ones":[133],"straightforward":[135],"by":[139],"framework.":[141],"publicly-available":[145],"software":[146],"which":[148],"represents":[149],"starting":[151],"point":[152],"for":[153],"quantitative,":[154],"val-idatable":[157],"experimental":[158],"research":[159],"investigate":[161],"trade-offs":[162],"across":[163]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}