This video presents MPL's dataset publication “VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM (Ling Gao, Yuxuan Liang, Jiaqi Yang, Shaoxun Wu, Chenyu Wang, Jiaben Chen, and Laurent Kneip)”, which has been accepted for publication in the IEEE Robotics and Automation Letters (RA-L) along with the option of presenting it at the 2022 IEEE International Conference on Intelligent Robots and Systems (IROS 2022). The complete set of benchmark datasets is captured with a fully hardware synchronized multi-sensor setup containing an event-based stereo camera, a regular stereo camera, multiple depth sensors, and an inertial measurement unit. All sequences come with ground truth data captured by highly accurate external reference devices such as a motion capture system. Individual sequences include both small and large-scale environments, and cover the specific challenges targeted by dynamic vision sensors.
Paper: https://arxiv.org/abs/2207.01404
Website: https://star-datasets.github.io/vector/
Calibration Toolbox: https://github.com/mgaoling/mpl_calibration_toolbox
Dataset Toolbox: https://github.com/mgaoling/mpl_dataset_toolbox
Synchronization Toolbox: https://github.com/sjtuyuxuan/sync_toolbox
