InCrowd-VI provides a realistic visual-inertial benchmark with 58 head-worn sequences in crowded indoor spaces, where state-of-the-art SLAM systems frequently fail to meet accuracy and real-time requirements.
Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age
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InCrowd-VI: A Realistic Visual-Inertial Dataset for Evaluating SLAM in Indoor Pedestrian-Rich Spaces for Human Navigation
InCrowd-VI provides a realistic visual-inertial benchmark with 58 head-worn sequences in crowded indoor spaces, where state-of-the-art SLAM systems frequently fail to meet accuracy and real-time requirements.