{"id":"https://openalex.org/W4405788126","doi":"https://doi.org/10.1109/iros58592.2024.10801690","title":"A Framework for Reproducible Benchmarking and Performance Diagnosis of SLAM Systems","display_name":"A Framework for Reproducible Benchmarking and Performance Diagnosis of SLAM Systems","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405788126","doi":"https://doi.org/10.1109/iros58592.2024.10801690"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801690","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066372316","display_name":"N Radulov","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":true,"raw_author_name":"Nikola Radulov","raw_affiliation_strings":["University of Manchester,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Computer Science,UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100349346","display_name":"Yuhao Zhang","orcid":"https://orcid.org/0000-0002-2814-7317"},"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":"Yuhao Zhang","raw_affiliation_strings":["University of Manchester,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Computer Science,UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090898300","display_name":"Mihai Bujanca","orcid":"https://orcid.org/0000-0001-7575-1552"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mihai Bujanca","raw_affiliation_strings":["Qualcomm Technologies XR Labs,Austria"],"affiliations":[{"raw_affiliation_string":"Qualcomm Technologies XR Labs,Austria","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021096884","display_name":"Ruiqi Ye","orcid":"https://orcid.org/0000-0002-6668-7189"},"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":"Ruiqi Ye","raw_affiliation_strings":["University of Manchester,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Computer Science,UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","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 Luj\u00e1n","raw_affiliation_strings":["University of Manchester,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"University of Manchester,Department of Computer Science,UK","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066372316"],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":null,"apc_paid":null,"fwci":0.9008,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.72058109,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"14225","last_page":"14232"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9886000156402588,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9821000099182129,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.9254647493362427},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.736240804195404},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4727921187877655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36023229360580444},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11004582047462463},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09167635440826416}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.9254647493362427},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.736240804195404},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4727921187877655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36023229360580444},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11004582047462463},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09167635440826416},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801690","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Gender equality","id":"https://metadata.un.org/sdg/5"}],"awards":[{"id":"https://openalex.org/G849311619","display_name":null,"funder_award_id":"EP/T026995/1","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1894701209","https://openalex.org/W2021851106","https://openalex.org/W2115579991","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2250172176","https://openalex.org/W2296228853","https://openalex.org/W2535547924","https://openalex.org/W2789218862","https://openalex.org/W2810107285","https://openalex.org/W2909908358","https://openalex.org/W2968243907","https://openalex.org/W2968673597","https://openalex.org/W3043971245","https://openalex.org/W3132401233","https://openalex.org/W3196708299","https://openalex.org/W4205574455","https://openalex.org/W4206560615","https://openalex.org/W4281479885","https://openalex.org/W4315778466","https://openalex.org/W4383108351","https://openalex.org/W6697144307"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699"],"abstract_inverted_index":{"We":[0,122],"propose":[1],"SLAMFuse,":[2],"an":[3],"open-source":[4],"SLAM":[5,16,42,120],"benchmarking":[6,118,143],"framework":[7,32],"that":[8],"provides":[9],"consistent":[10],"cross-platform":[11],"environments":[12],"for":[13,21,104,116,140],"evaluating":[14],"multi-modal":[15],"algorithms,":[17],"along":[18],"with":[19,66,138],"tools":[20,103],"data":[22],"fuzzing,":[23],"failure":[24,67],"detection,":[25],"and":[26,58,69,89,100,107,131,142],"diagnosis":[27],"across":[28,86],"different":[29],"datasets.":[30],"Our":[31],"introduces":[33],"a":[34,113],"fuzzing":[35],"mechanism":[36],"to":[37,81],"test":[38],"the":[39,49,96,129,135],"resilience":[40],"of":[41,51,98,119,128],"algorithms":[43,130],"against":[44,75],"dataset":[45,76],"perturbations.":[46],"This":[47],"enables":[48],"assessment":[50],"pose":[52],"estimation":[53],"accuracy":[54],"under":[55],"varying":[56],"conditions":[57,85],"identifies":[59],"critical":[60],"perturbation":[61],"thresholds.":[62],"SLAMFuse":[63,78],"improves":[64],"diagnostics":[65],"detection":[68],"analysis":[70],"tools,":[71],"examining":[72],"algorithm":[73,105],"behaviour":[74],"characteristics.":[77],"uses":[79],"Docker":[80],"ensure":[82],"reproducible":[83],"testing":[84],"diverse":[87],"datasets":[88,132],"systems":[90],"by":[91],"streamlining":[92],"dependency":[93],"management.":[94],"Emphasizing":[95],"importance":[97],"reproducibility":[99],"introducing":[101],"advanced":[102],"evaluation":[106],"performance":[108],"diagnosis,":[109],"our":[110],"work":[111],"sets":[112],"new":[114,144],"precedent":[115],"reliable":[117],"systems.":[121],"provide":[123],"ready-to-use":[124],"docker":[125],"compatible":[126],"versions":[127],"used":[133],"in":[134],"experiments,":[136],"together":[137],"guidelines":[139],"integrating":[141],"algorithms.":[145],"Code":[146],"is":[147],"available":[148],"at":[149],"https://github.com/nikolaradulov/slamfuse":[150]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}