{"id":"https://openalex.org/W2978413979","doi":"https://doi.org/10.1109/icra40945.2020.9196885","title":"Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping","display_name":"Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2978413979","doi":"https://doi.org/10.1109/icra40945.2020.9196885","mag":"2978413979"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.02490","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113909824","display_name":"Antoni Rosinol","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Antoni Rosinol","raw_affiliation_strings":["Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","Massachusetts Institute Of Technology#TAB#"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute Of Technology#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008752305","display_name":"Marcus Abate","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcus Abate","raw_affiliation_strings":["Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","Massachusetts Institute Of Technology#TAB#"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute Of Technology#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082750695","display_name":"Yun Chang","orcid":"https://orcid.org/0000-0002-2829-5256"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun Chang","raw_affiliation_strings":["Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","Massachusetts Institute Of Technology#TAB#"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute Of Technology#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","Massachusetts Institute Of Technology#TAB#"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute Of Technology#TAB#","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5113909824"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":33.0155,"has_fulltext":true,"cited_by_count":27,"citation_normalized_percentile":{"value":0.9929708,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1689","last_page":"1696"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7557380795478821},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7509728670120239},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6221295595169067},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6146908402442932},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6062469482421875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5971484184265137},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5730130672454834},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.483510285615921},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4720034599304199},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4410099387168884},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.4407769441604614},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4330357611179352},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37380683422088623},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.31209003925323486},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16409939527511597}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7557380795478821},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7509728670120239},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6221295595169067},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6146908402442932},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6062469482421875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5971484184265137},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5730130672454834},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.483510285615921},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4720034599304199},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4410099387168884},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.4407769441604614},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4330357611179352},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37380683422088623},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.31209003925323486},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16409939527511597},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra40945.2020.9196885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.02490","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.02490","pdf_url":"https://arxiv.org/pdf/1910.02490","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2978413979","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1910.02490","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:dspace.mit.edu:1721.1/137276","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137276","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"doi:10.48550/arxiv.1910.02490","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.02490","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.02490","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.02490","pdf_url":"https://arxiv.org/pdf/1910.02490","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2978413979.pdf","grobid_xml":"https://content.openalex.org/works/W2978413979.grobid-xml"},"referenced_works_count":104,"referenced_works":["https://openalex.org/W1521470386","https://openalex.org/W1594951361","https://openalex.org/W1612997784","https://openalex.org/W1913356549","https://openalex.org/W1968315983","https://openalex.org/W1989484209","https://openalex.org/W1993267444","https://openalex.org/W2033819227","https://openalex.org/W2049981393","https://openalex.org/W2060772243","https://openalex.org/W2065906272","https://openalex.org/W2080486046","https://openalex.org/W2097696373","https://openalex.org/W2105824943","https://openalex.org/W2109635530","https://openalex.org/W2117248802","https://openalex.org/W2118223742","https://openalex.org/W2130103520","https://openalex.org/W2153405862","https://openalex.org/W2163605009","https://openalex.org/W2182229738","https://openalex.org/W2201312286","https://openalex.org/W2209124607","https://openalex.org/W2210040239","https://openalex.org/W2214788824","https://openalex.org/W2216550548","https://openalex.org/W2229412420","https://openalex.org/W2250172176","https://openalex.org/W2285626259","https://openalex.org/W2396274919","https://openalex.org/W2412782625","https://openalex.org/W2419448466","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2509984055","https://openalex.org/W2523049145","https://openalex.org/W2560023338","https://openalex.org/W2564125379","https://openalex.org/W2570343428","https://openalex.org/W2606794968","https://openalex.org/W2606864979","https://openalex.org/W2607968634","https://openalex.org/W2609077090","https://openalex.org/W2613718673","https://openalex.org/W2670684868","https://openalex.org/W2739423245","https://openalex.org/W2741885505","https://openalex.org/W2745859992","https://openalex.org/W2768923469","https://openalex.org/W2770176163","https://openalex.org/W2780403726","https://openalex.org/W2786036844","https://openalex.org/W2798278946","https://openalex.org/W2851217339","https://openalex.org/W2883702102","https://openalex.org/W2886944874","https://openalex.org/W2888144883","https://openalex.org/W2890092611","https://openalex.org/W2891820683","https://openalex.org/W2897828525","https://openalex.org/W2901136733","https://openalex.org/W2909063396","https://openalex.org/W2919379406","https://openalex.org/W2940237668","https://openalex.org/W2951735235","https://openalex.org/W2962772116","https://openalex.org/W2963046720","https://openalex.org/W2963150697","https://openalex.org/W2963509941","https://openalex.org/W2963706542","https://openalex.org/W2963881378","https://openalex.org/W2964226622","https://openalex.org/W2964327083","https://openalex.org/W2965853874","https://openalex.org/W2967352563","https://openalex.org/W2968893828","https://openalex.org/W2986699881","https://openalex.org/W2991216808","https://openalex.org/W3003344567","https://openalex.org/W3004300126","https://openalex.org/W3022478135","https://openalex.org/W3102129812","https://openalex.org/W3102330937","https://openalex.org/W3103648783","https://openalex.org/W3124420883","https://openalex.org/W4230766380","https://openalex.org/W4237458977","https://openalex.org/W4246614213","https://openalex.org/W6620707391","https://openalex.org/W6677871018","https://openalex.org/W6679388247","https://openalex.org/W6684191040","https://openalex.org/W6685664056","https://openalex.org/W6717372056","https://openalex.org/W6727114389","https://openalex.org/W6746233725","https://openalex.org/W6747827861","https://openalex.org/W6754156300","https://openalex.org/W6755766815","https://openalex.org/W6756486208","https://openalex.org/W6758162286","https://openalex.org/W6761722676","https://openalex.org/W6767688279"],"related_works":["https://openalex.org/W3090386798","https://openalex.org/W3013325599","https://openalex.org/W3024627041","https://openalex.org/W2985912973","https://openalex.org/W2895745202","https://openalex.org/W2953581191","https://openalex.org/W3200560019","https://openalex.org/W2950989657","https://openalex.org/W3163144411","https://openalex.org/W2987650445","https://openalex.org/W3081164025","https://openalex.org/W3186582707","https://openalex.org/W3203164502","https://openalex.org/W3120564201","https://openalex.org/W2782096382","https://openalex.org/W2990069539","https://openalex.org/W3120245045","https://openalex.org/W2975125358","https://openalex.org/W3192784003","https://openalex.org/W3037842260"],"abstract_inverted_index":{"We":[0,138],"provide":[1],"an":[2],"open-source":[3],"C++":[4],"library":[5,16],"for":[6,56,67,76,156],"real-time":[7,115],"metric-semantic":[8,84,123,158],"visual-inertial":[9,22,52],"Simultaneous":[10],"Localization":[11],"And":[12],"Mapping":[13],"(SLAM).":[14],"The":[15,87],"goes":[17],"beyond":[18],"existing":[19],"visual":[20],"and":[21,34,46,58,80,119,146,160,163,178],"SLAM":[23,110,159],"libraries":[24],"(e.g.,":[25,170],"ORB-SLAM,":[26],"VINS-Mono,":[27],"OKVIS,":[28],"ROVIO)":[29],"by":[30,133,149],"enabling":[31],"mesh":[32,78,124],"reconstruction":[33,85],"semantic":[35],"labeling":[36],"in":[37,44,92,95,114],"3D.":[38],"Kimera":[39,98,112,150],"is":[40],"designed":[41],"with":[42],"modularity":[43],"mind":[45],"has":[47],"four":[48],"key":[49],"components:":[50],"a":[51,62,71,81,104,108,117,121,153],"odometry":[53],"(VIO)":[54],"module":[55,75],"fast":[57,77],"accurate":[59],"state":[60],"estimation,":[61,70],"robust":[63],"pose":[64],"graph":[65],"optimizer":[66],"global":[68],"trajectory":[69],"lightweight":[72],"3D":[73,83,122,173],"mesher":[74],"reconstruction,":[79,174],"dense":[82],"module.":[86],"modules":[88],"can":[89,99,130],"be":[90,131],"run":[91],"isolation":[93],"or":[94,107],"combination,":[96],"hence":[97],"easily":[100],"fall":[101],"back":[102],"to":[103,176,185],"state-of-the-art":[105],"VIO":[106],"full":[109],"system.":[111],"runs":[113],"on":[116],"CPU":[118],"produces":[120],"from":[125,187],"semantically":[126],"labeled":[127],"images,":[128],"which":[129],"obtained":[132],"modern":[134],"deep":[135],"learning":[136],"methods.":[137],"hope":[139],"that":[140],"the":[141],"flexibility,":[142],"computational":[143],"efficiency,":[144],"robustness,":[145],"accuracy":[147],"afforded":[148],"will":[151,164],"build":[152],"solid":[154],"basis":[155],"future":[157],"perception":[161],"research,":[162],"allow":[165],"researchers":[166],"across":[167],"multiple":[168],"areas":[169],"VIO,":[171],"SLAM,":[172],"segmentation)":[175],"benchmark":[177],"prototype":[179],"their":[180],"own":[181],"efforts":[182],"without":[183],"having":[184],"start":[186],"scratch.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
