{"id":"https://openalex.org/W4283823181","doi":"https://doi.org/10.1109/lra.2022.3186770","title":"VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM","display_name":"VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM","publication_year":2022,"publication_date":"2022-06-28","ids":{"openalex":"https://openalex.org/W4283823181","doi":"https://doi.org/10.1109/lra.2022.3186770"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3186770","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3186770","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2207.01404","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078435553","display_name":"Ling Gao","orcid":"https://orcid.org/0000-0003-2294-5155"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ling Gao","raw_affiliation_strings":["Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","University of Chinese Academy of Sciences, University of Chinese Academy of Sciences, Beijing, China","Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2294-5155","affiliations":[{"raw_affiliation_string":"Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083190478","display_name":"Yuxuan Liang","orcid":"https://orcid.org/0000-0001-8707-152X"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]},{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yuxuan Liang","raw_affiliation_strings":["Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-8707-152X","affiliations":[{"raw_affiliation_string":"Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103214668","display_name":"Jiaqi Yang","orcid":"https://orcid.org/0000-0002-7038-0913"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Yang","raw_affiliation_strings":["Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7038-0913","affiliations":[{"raw_affiliation_string":"Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007366461","display_name":"Shaoxun Wu","orcid":"https://orcid.org/0000-0003-2313-6720"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoxun Wu","raw_affiliation_strings":["Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2313-6720","affiliations":[{"raw_affiliation_string":"Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100385882","display_name":"Chenyu Wang","orcid":"https://orcid.org/0000-0003-0366-8113"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyu Wang","raw_affiliation_strings":["Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0366-8113","affiliations":[{"raw_affiliation_string":"Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025448142","display_name":"Jiaben Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaben Chen","raw_affiliation_strings":["Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2252-1419","affiliations":[{"raw_affiliation_string":"Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044711470","display_name":"Laurent Kneip","orcid":"https://orcid.org/0000-0001-6727-6608"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Laurent Kneip","raw_affiliation_strings":["Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","Shanghai Engineering Research Center of Intelligent Vision and Imaging, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6727-6608","affiliations":[{"raw_affiliation_string":"Mobile Perception Lab of the School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"Shanghai Engineering Research Center of Intelligent Vision and Imaging, Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5078435553"],"corresponding_institution_ids":["https://openalex.org/I30809798","https://openalex.org/I4210147322","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":8.3113,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.98437446,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"7","issue":"3","first_page":"8217","last_page":"8224"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9836000204086304,"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/T11472","display_name":"Analytical Chemistry and Sensors","score":0.9708999991416931,"subfield":{"id":"https://openalex.org/subfields/1502","display_name":"Bioengineering"},"field":{"id":"https://openalex.org/fields/15","display_name":"Chemical Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.8194500207901001},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7694981098175049},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7398536205291748},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.729305624961853},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.7067576050758362},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7023765444755554},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.606704592704773},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.558142364025116},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.41359996795654297},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4016706347465515},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26646554470062256},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12751808762550354},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08061707019805908}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8194500207901001},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7694981098175049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7398536205291748},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.729305624961853},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.7067576050758362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7023765444755554},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.606704592704773},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.558142364025116},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.41359996795654297},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4016706347465515},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26646554470062256},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12751808762550354},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08061707019805908},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3186770","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3186770","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2207.01404","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.01404","pdf_url":"https://arxiv.org/pdf/2207.01404","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2207.01404","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.01404","pdf_url":"https://arxiv.org/pdf/2207.01404","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":[{"id":"https://openalex.org/G7548293030","display_name":null,"funder_award_id":"22ZR1441300","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"}],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1998058414","https://openalex.org/W2003857027","https://openalex.org/W2021851106","https://openalex.org/W2114084853","https://openalex.org/W2115579991","https://openalex.org/W2121349631","https://openalex.org/W2284291938","https://openalex.org/W2296228853","https://openalex.org/W2396274919","https://openalex.org/W2411093439","https://openalex.org/W2567239141","https://openalex.org/W2745859992","https://openalex.org/W2783185291","https://openalex.org/W2785582094","https://openalex.org/W2809335043","https://openalex.org/W2899000831","https://openalex.org/W2963127485","https://openalex.org/W2968243907","https://openalex.org/W3040838455","https://openalex.org/W3043971245","https://openalex.org/W3099039688","https://openalex.org/W3105213754","https://openalex.org/W3122190729","https://openalex.org/W3129245057","https://openalex.org/W3132401233","https://openalex.org/W3139658937","https://openalex.org/W3165610079","https://openalex.org/W3188021906","https://openalex.org/W3207911210","https://openalex.org/W4206743952","https://openalex.org/W4226007707","https://openalex.org/W4226051885","https://openalex.org/W6674987968","https://openalex.org/W6755494875"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2091018038","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2991246638","https://openalex.org/W4323323165","https://openalex.org/W2745033168","https://openalex.org/W2907848307"],"abstract_inverted_index":{"Event":[0],"cameras":[1,15],"have":[2],"recently":[3],"gained":[4],"in":[5,16,46],"popularity":[6],"as":[7,117],"they":[8],"hold":[9],"strong":[10],"potential":[11],"to":[12,48],"complement":[13],"regular":[14,81],"situations":[17],"of":[18,33,67],"high":[19],"dynamics":[20],"or":[21],"challenging":[22],"illumination.":[23],"An":[24],"important":[25],"problem":[26],"that":[27],"may":[28],"benefit":[29],"from":[30],"the":[31,63,132],"addition":[32],"an":[34,76,88],"event":[35],"camera":[36],"is":[37,62,94],"given":[38],"by":[39,110,136],"Simultaneous":[40],"Localization":[41],"And":[42],"Mapping":[43],"(SLAM).":[44],"However,":[45],"order":[47],"ensure":[49],"progress":[50],"on":[51],"event-inclusive":[52],"multi-sensor":[53,73],"SLAM,":[54],"novel":[55],"benchmark":[56,68],"sequences":[57,103,123],"are":[58],"needed.":[59],"Our":[60],"contribution":[61],"first":[64],"complete":[65],"set":[66],"datasets":[69],"captured":[70,109],"with":[71,105],"a":[72,80,118],"setup":[74,93],"containing":[75],"event-based":[77],"stereo":[78,82],"camera,":[79,83],"multiple":[84],"depth":[85],"sensors,":[86],"and":[87,97,127,130],"inertial":[89],"measurement":[90],"unit.":[91],"The":[92],"fully":[95],"hardware-synchronized":[96],"underwent":[98],"accurate":[99,112],"extrinsic":[100],"calibration.":[101],"All":[102],"come":[104],"ground":[106],"truth":[107],"data":[108],"highly":[111],"external":[113],"reference":[114],"devices":[115],"such":[116],"motion":[119],"capture":[120],"system.":[121],"Individual":[122],"include":[124],"both":[125],"small":[126],"large-scale":[128],"environments,":[129],"cover":[131],"specific":[133],"challenges":[134],"targeted":[135],"dynamic":[137],"vision":[138],"sensors.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":47},{"year":2024,"cited_by_count":29},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-12T08:28:47.272897","created_date":"2025-10-10T00:00:00"}