[{"data":1,"prerenderedAt":1241},["ShallowReactive",2],{"method-vinsmono2018":3},{"method":4,"reference":57,"equipment":76,"figures":143,"results":144},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":22,"limitations":26,"sensors":29,"platform":32,"estimator":38,"association":39,"timeModel":40,"deskew":41,"loopClosure":42,"globalOptimization":43,"mapRepresentation":44,"prior":45,"outputGeometry":46,"compute":47,"codeUrl":48,"codeLicense":49,"relatedVersions":50},"vinsmono2018","Qin et al., 2018","VINS-Mono","VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator",2018,"recent","C08","full_slam_with_global_correction","VINS-Mono 以單眼相機加低成本 IMU 估計具公制尺度的六自由度狀態，先以僅視覺 SfM 與視覺慣性對齊完成初始化（陀螺儀偏差、速度、重力方向與尺度），再以滑動視窗緊耦合融合 IMU 預積分（pre-integration）與特徵觀測。迴圈偵測後進行緊耦合重定位，並因 roll、pitch 可由 VIO 觀測，只對 x、y、z 與偏航角做 4-DOF 位姿圖最佳化。作者將稠密建圖列為未來工作。","VINS-Mono provides robust initialisation and tightly-coupled sliding-window monocular VIO with IMU pre-integration, relocalization and 4-DOF pose-graph optimisation, yielding metric trajectories but only sparse maps.","full_text_reviewed","peer_reviewed_published","main_body","論文未報告營建工地測試；評估包含 EuRoC、室內與校園大範圍實驗。退化運動（例如等速直線）下的可觀測性問題與工地手持或載具掃描相關（推論）。",[20,21],"public_benchmark","controlled_experiment",[23,24,25],"keep","add: VINS_loop had the lowest or tied-lowest EuRoC ATE RMSE of the three compared configurations (OKVIS monocular, VINS, VINS_loop) in 9 of 11 sequences (Table I)","loop-closure-disabled flight drifted 0.29 % over 61.97 m (Sec. 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X)","Intel i7-4790 3.60 GHz on the campus dataset: feature detection 15 ms and KLT 5 ms at 25 Hz, window optimization 50 ms at 10 Hz, loop detection 100 ms, pose graph optimization 130 ms (Table II); onboard Intel i7-5500U 3.00 GHz on the aerial robot with 100 Hz IMU-propagated output (Sec. IX-C-1); motion-only optimization about 5 ms versus more than 50 ms for full VIO on embedded computers (Sec. VI-E)","https:\u002F\u002Fgithub.com\u002FHKUST-Aerial-Robotics\u002FVINS-Mono","GPLv3 (README licence section)",[51,55],{"relation":52,"title":53,"doi_or_url":54},"preprint","VINS-Mono (arXiv)","https:\u002F\u002Farxiv.org\u002Fabs\u002F1708.03852",{"relation":56,"title":7,"doi_or_url":48},"code_release",{"id":5,"kind":58,"shortName":7,"title":8,"authors":59,"year":9,"venue":63,"venueType":64,"publisher":65,"volumeIssuePages":66,"doi":67,"arxivId":68,"url":54,"firstPublicDate":69,"publicationStatus":16,"metadataStatus":70,"fulltextStatus":15,"era":10,"classicReason":41,"codeUrl":48,"cluster":11,"topics":71,"mdpi":72,"verification":73,"label":6,"fulltextRoute":74,"versionRead":75,"addedByCensus":72},"method",[60,61,62],"Tong Qin","Peiliang Li","Shaojie Shen","IEEE Transactions on Robotics","journal","IEEE","34(4):1004-1020","10.1109\u002Ftro.2018.2853729","1708.03852","2017-08-13","metadata_verified",[11],false,"confirmed","NTU institutional (Chrome)","version of record, IEEE T-RO 34(4):1004-1020 (IEEE Xplore HTML full text, free access; Tables I and II read from the table images); arXiv 1708.03852v1 (2017-08-13, submitted version) also read and differs",[77,84,88,94,97,104,107,112,117,121,124,128,132,135,140],{"category":78,"model":79,"canonical":79,"role":80,"dataset":81,"specs":82,"locator":83},"stereo_camera","Aptina MT9V034","dataset sensor","EuRoC","global shutter, WVGA monochrome, 20 FPS; only the left camera used","Sec. 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sub-sequences",[551,552,555,557],{"name":7,"methodId":5,"linkable":233,"proposed":72,"self":233},{"name":553,"methodId":554,"linkable":233,"proposed":72,"self":72},"Fast-Lio","fastlio2021",{"name":556,"methodId":101,"linkable":72,"proposed":72,"self":72},"Camvox",{"name":558,"methodId":494,"linkable":233,"proposed":233,"self":72},"R2LIVE",[560,562,564,565,567,569,571,572,574,575,577,579,581,582,584,586,588,590,591,593,595,597,599,600,601,603,605,606,608,610,612,613,615,617,619,621,623,624,626,627,628,629,631,632,633,634,636,637,638,639,641,642,644,646,648,649,651,652,654,655,657,658,660,661,662,663,665,666,667,668,669,670,671,672,674,675,677,679,681,683,685,686,688,689,691,692,694,695,696,697,698,699,700,701,702,703],[241,241,241,561,243,241,243,243,241],0.24,[241,245,241,563,243,241,243,243,241],12.67,[241,248,245,275,243,241,243,243,241],[241,251,245,566,243,241,243,243,241],7.12,[241,277,248,568,243,241,243,243,241],0.17,[241,286,248,570,243,241,243,243,241],4.3,[241,295,251,439,243,241,243,243,241],[241,304,251,573,243,241,243,243,241],3.24,[241,313,277,271,243,241,243,243,241],[241,321,277,576,243,241,243,243,241],3.09,[241,329,286,578,243,241,243,243,241],0.44,[241,337,286,580,243,241,243,243,241],3.76,[245,241,241,252,243,241,243,243,241],[245,245,241,583,243,241,243,243,241],2.82,[245,248,245,585,243,241,243,243,241],0.29,[245,251,245,587,243,241,243,243,241],1.34,[245,277,248,589,243,241,243,243,241],0.22,[245,286,248,460,243,241,243,243,241],[245,295,251,592,243,241,243,243,241],0.28,[245,304,251,594,243,241,243,243,241],0.5,[245,313,277,596,243,241,243,243,241],0.36,[245,321,277,598,243,241,243,243,241],0.45,[245,329,286,327,243,241,243,243,241],[245,337,286,249,243,241,243,243,241],[248,241,241,602,243,241,243,243,241],0.67,[248,245,241,604,243,241,243,243,241],27.53,[248,248,245,265,243,241,243,243,241],[248,251,245,607,243,241,243,243,241],14.42,[248,277,248,609,243,241,243,243,241],0.31,[248,286,248,611,243,241,243,243,241],5.67,[248,295,251,592,243,241,243,243,241],[248,304,251,614,243,241,243,243,241],4.05,[248,313,277,616,243,241,243,243,241],0.83,[248,321,277,618,243,241,243,243,241],3.74,[248,329,286,620,243,241,243,243,241],0.71,[248,337,286,622,243,241,243,243,241],3.26,[251,241,241,271,243,241,243,243,241],[251,245,241,625,243,241,243,243,241],1.4,[251,248,245,439,243,241,243,243,241],[251,251,245,311,243,241,243,243,241],[251,277,248,408,243,241,243,243,241],[251,286,248,630,243,241,243,243,241],0.43,[251,295,251,439,243,241,243,243,241],[251,304,251,585,243,241,243,243,241],[251,313,277,271,243,241,243,243,241],[251,321,277,635,243,241,243,243,241],0.3,[251,329,286,307,243,241,243,243,241],[251,337,286,561,243,241,243,243,241],[241,241,295,282,243,241,243,243,241],[241,245,295,640,243,241,243,243,241],13.19,[241,248,304,594,243,241,243,243,241],[241,251,304,643,243,241,243,243,241],12.33,[241,277,313,645,243,241,243,243,241],0.55,[241,286,313,647,243,241,243,243,241],3.61,[241,295,321,252,243,241,243,243,241],[241,304,321,650,243,241,243,243,241],4.49,[241,313,329,594,243,241,243,243,241],[241,321,329,653,243,241,243,243,241],1.92,[241,329,337,242,243,241,243,243,241],[241,337,337,656,243,241,243,243,241],2.77,[245,241,295,414,243,241,243,243,241],[245,245,295,659,243,241,243,243,241],1.39,[245,248,304,445,243,241,243,243,241],[245,251,304,245,243,241,243,243,241],[245,277,313,445,243,241,243,243,241],[245,286,313,664,243,241,243,243,241],0.56,[245,295,321,445,243,241,243,243,241],[245,304,321,273,243,241,243,243,241],[245,313,329,414,243,241,243,243,241],[245,321,329,271,243,241,243,243,241],[245,329,337,414,243,241,243,243,241],[245,337,337,284,243,241,243,243,241],[248,241,295,284,243,241,243,243,241],[248,245,295,673,243,241,243,243,241],9.84,[248,248,304,259,243,241,243,243,241],[248,251,304,676,243,241,243,243,241],5.25,[248,277,313,678,243,241,243,243,241],0.49,[248,286,313,680,243,241,243,243,241],4.06,[248,295,321,682,243,241,243,243,241],0.48,[248,304,321,684,243,241,243,243,241],4.11,[248,313,329,678,243,241,243,243,241],[248,321,329,687,243,241,243,243,241],2.13,[248,329,337,594,243,241,243,243,241],[248,337,337,690,243,241,243,243,241],2.1,[251,241,295,430,243,241,243,243,241],[251,245,295,693,243,241,243,243,241],1.05,[251,248,304,434,243,241,243,243,241],[251,251,304,327,243,241,243,243,241],[251,277,313,412,243,241,243,243,241],[251,286,313,609,243,241,243,243,241],[251,295,321,412,243,241,243,243,241],[251,304,321,439,243,241,243,243,241],[251,313,329,414,243,241,243,243,241],[251,321,329,568,243,241,243,243,241],[251,329,337,414,243,241,243,243,241],[251,337,337,437,243,241,243,243,241],[],[706],"VoR Table I",[],[],[710],"Version of record Table I: relative rotation error (RRE, deg) and relative translation error (RTE, %) over all sub-sequences of each length, two fast-rotating handheld sequences (130 and 200 deg\u002Fs, mapping to (a) and (b) not stated) with D-GPS RTK ground truth; rows R2LIVE-LIO, R2LIVE-VIO and R2LIVE-LC (the latter undefined in the text) omitted here. Supersedes the median values in the arXiv v1 Fig. 11 caption.",{"slug":712,"group":713,"sourceId":714,"sourceLabel":715,"table":716,"selfRows":443,"metrics":717,"seqs":730,"entrants":757,"cells":770,"outcomes":975,"locators":976,"hardware":978,"wordings":979,"notes":980},"r3live2022-table-iii","r3live2022:Table III","r3live2022","Lin & Zhang, 2022","Table III",[718,719,720,721,722,723,724,725,726,727,728,729],{"label":499,"unit":500,"statistic":160,"alignment":160},{"label":502,"unit":163,"statistic":160,"alignment":160},{"label":504,"unit":500,"statistic":160,"alignment":160},{"label":506,"unit":163,"statistic":160,"alignment":160},{"label":508,"unit":500,"statistic":160,"alignment":160},{"label":510,"unit":163,"statistic":160,"alignment":160},{"label":512,"unit":500,"statistic":160,"alignment":160},{"label":514,"unit":163,"statistic":160,"alignment":160},{"label":516,"unit":500,"statistic":160,"alignment":160},{"label":518,"unit":163,"statistic":160,"alignment":160},{"label":520,"unit":500,"statistic":160,"alignment":160},{"label":522,"unit":163,"statistic":160,"alignment":160},[731,735,737,739,741,743,745,747,749,751,753,755],{"dataset":732,"sequence":733,"environment":734},"R3LIVE Experiment-3 (authors' data, D-GPS RTK)","Experiment-3 (a), 50 m sub-sequences","seaport promenade with pedestrians and open sea (handheld)",{"dataset":732,"sequence":736,"environment":734},"Experiment-3 (a), 100 m sub-sequences",{"dataset":732,"sequence":738,"environment":734},"Experiment-3 (a), 150 m sub-sequences",{"dataset":732,"sequence":740,"environment":734},"Experiment-3 (a), 200 m sub-sequences",{"dataset":732,"sequence":742,"environment":734},"Experiment-3 (a), 250 m sub-sequences",{"dataset":732,"sequence":744,"environment":734},"Experiment-3 (a), 300 m sub-sequences",{"dataset":732,"sequence":746,"environment":734},"Experiment-3 (b), 50 m sub-sequences",{"dataset":732,"sequence":748,"environment":734},"Experiment-3 (b), 100 m sub-sequences",{"dataset":732,"sequence":750,"environment":734},"Experiment-3 (b), 150 m sub-sequences",{"dataset":732,"sequence":752,"environment":734},"Experiment-3 (b), 200 m sub-sequences",{"dataset":732,"sequence":754,"environment":734},"Experiment-3 (b), 250 m sub-sequences",{"dataset":732,"sequence":756,"environment":734},"Experiment-3 (b), 300 m sub-sequences",[758,760,762,765,766,769],{"name":759,"methodId":714,"linkable":233,"proposed":233,"self":72},"R3LIVE-HiRes",{"name":761,"methodId":714,"linkable":233,"proposed":233,"self":72},"R3LIVE-RT",{"name":763,"methodId":764,"linkable":233,"proposed":72,"self":72},"LVI SAM","lvisam2021",{"name":558,"methodId":494,"linkable":233,"proposed":72,"self":72},{"name":767,"methodId":768,"linkable":233,"proposed":72,"self":72},"FAST-LIO2","fastlio2_2022",{"name":7,"methodId":5,"linkable":233,"proposed":72,"self":233},[771,773,775,777,779,781,782,783,784,785,786,787,788,790,792,794,796,797,798,799,801,802,803,804,806,808,809,811,813,814,816,817,819,820,822,823,825,827,829,831,832,834,835,836,837,838,839,840,841,843,845,847,849,850,851,852,853,854,855,856,857,859,861,862,864,866,868,869,871,873,875,876,878,879,881,883,884,885,886,887,888,890,891,892,893,895,897,898,900,901,902,903,905,906,907,908,910,912,914,915,917,918,920,921,923,924,926,927,929,930,932,933,935,936,938,939,940,941,942,943,944,946,948,949,950,951,952,953,954,955,956,957,958,960,962,963,965,966,968,969,971,972,973,974],[241,241,241,772,243,241,243,243,241],0.99,[241,245,241,774,243,241,243,243,241],2.25,[241,248,245,776,243,241,243,243,241],0.53,[241,251,245,778,243,241,243,243,241],1.02,[241,277,248,780,243,241,243,243,241],0.46,[241,286,248,327,243,241,243,243,241],[241,295,251,585,243,241,243,243,241],[241,304,251,609,243,241,243,243,241],[241,313,277,561,243,241,243,243,241],[241,321,277,609,243,241,243,243,241],[241,329,286,275,243,241,243,243,241],[241,337,286,568,243,241,243,243,241],[245,241,241,789,243,241,243,243,241],1.48,[245,245,241,791,243,241,243,243,241],2.21,[245,248,245,793,243,241,243,243,241],0.54,[245,251,245,795,243,241,243,243,241],1.06,[245,277,248,678,243,241,243,243,241],[245,286,248,327,243,241,243,243,241],[245,295,251,609,243,241,243,243,241],[245,304,251,800,243,241,243,243,241],0.41,[245,313,277,271,243,241,243,243,241],[245,321,277,609,243,241,243,243,241],[245,329,286,589,243,241,243,243,241],[245,337,286,805,243,241,243,243,241],0.23,[248,241,241,807,243,241,243,243,241],2.11,[248,245,241,451,243,241,243,243,241],[248,248,245,810,243,241,243,243,241],1.04,[248,251,245,812,243,241,243,243,241],6.69,[248,277,248,616,243,241,243,243,241],[248,286,248,815,243,241,243,243,241],5.07,[248,295,251,327,243,241,243,243,241],[248,304,251,818,243,241,243,243,241],3.86,[248,313,277,242,243,241,243,243,241],[248,321,277,821,243,241,243,243,241],2.98,[248,329,286,630,243,241,243,243,241],[248,337,286,824,243,241,243,243,241],2.4,[251,241,241,826,243,241,243,243,241],1.21,[251,245,241,828,243,241,243,243,241],2.47,[251,248,245,830,243,241,243,243,241],0.61,[251,251,245,778,243,241,243,243,241],[251,277,248,833,243,241,243,243,241],0.59,[251,286,248,327,243,241,243,243,241],[251,295,251,252,243,241,243,243,241],[251,304,251,252,243,241,243,243,241],[251,313,277,284,243,241,243,243,241],[251,321,277,249,243,241,243,243,241],[251,329,286,252,243,241,243,243,241],[251,337,286,275,243,241,243,243,241],[277,241,241,842,243,241,243,243,241],1.36,[277,245,241,844,243,241,243,243,241],2.35,[277,248,245,846,243,241,243,243,241],0.66,[277,251,245,848,243,241,243,243,241],0.82,[277,277,248,242,243,241,243,243,241],[277,286,248,327,243,241,243,243,241],[277,295,251,284,243,241,243,243,241],[277,304,251,596,243,241,243,243,241],[277,313,277,284,243,241,243,243,241],[277,321,277,609,243,241,243,243,241],[277,329,286,275,243,241,243,243,241],[277,337,286,439,243,241,243,243,241],[286,241,241,858,243,241,243,243,241],3.03,[286,245,241,860,243,241,243,243,241],10.41,[286,248,245,478,243,241,243,243,241],[286,251,245,863,243,241,243,243,241],7.63,[286,277,248,865,243,241,243,243,241],1.15,[286,286,248,867,243,241,243,243,241],6.36,[286,295,251,473,243,241,243,243,241],[286,304,251,870,243,241,243,243,241],4.34,[286,313,277,872,243,241,243,243,241],0.73,[286,321,277,874,243,241,243,243,241],3.08,[286,329,286,833,243,241,243,243,241],[286,337,286,877,243,241,243,243,241],2.31,[241,241,295,795,243,241,243,243,241],[241,245,295,880,243,241,243,243,241],1.98,[241,248,304,882,243,241,243,243,241],0.58,[241,251,304,587,243,241,243,243,241],[241,277,313,630,243,241,243,243,241],[241,286,313,616,243,241,243,243,241],[241,295,321,457,243,241,243,243,241],[241,304,321,833,243,241,243,243,241],[241,313,329,889,243,241,243,243,241],0.27,[241,321,329,889,243,241,243,243,241],[241,329,337,271,243,241,243,243,241],[241,337,337,408,243,241,243,243,241],[245,241,295,894,243,241,243,243,241],0.98,[245,245,295,896,243,241,243,243,241],2.08,[245,248,304,645,243,241,243,243,241],[245,251,304,899,243,241,243,243,241],1.61,[245,277,313,242,243,241,243,243,241],[245,286,313,772,243,241,243,243,241],[245,295,321,282,243,241,243,243,241],[245,304,321,904,243,241,243,243,241],0.65,[245,313,329,249,243,241,243,243,241],[245,321,329,249,243,241,243,243,241],[245,329,337,271,243,241,243,243,241],[245,337,337,909,243,241,243,243,241],0.14,[248,241,295,911,243,241,243,243,241],2.04,[248,245,295,913,243,241,243,243,241],3.33,[248,248,304,693,243,241,243,243,241],[248,251,304,916,243,241,243,243,241],2.37,[248,277,313,460,243,241,243,243,241],[248,286,313,919,243,241,243,243,241],1.53,[248,295,321,265,243,241,243,243,241],[248,304,321,922,243,241,243,243,241],1.38,[248,313,329,678,243,241,243,243,241],[248,321,329,925,243,241,243,243,241],1.13,[248,329,337,578,243,241,243,243,241],[248,337,337,928,243,241,243,243,241],1.01,[251,241,295,925,243,241,243,243,241],[251,245,295,931,243,241,243,243,241],2.06,[251,248,304,904,243,241,243,243,241],[251,251,304,934,243,241,243,243,241],1.45,[251,277,313,678,243,241,243,243,241],[251,286,313,937,243,241,243,243,241],0.88,[251,295,321,609,243,241,243,243,241],[251,304,321,265,243,241,243,243,241],[251,313,329,273,243,241,243,243,241],[251,321,329,635,243,241,243,243,241],[251,329,337,585,243,241,243,243,241],[251,337,337,408,243,241,243,243,241],[277,241,295,945,243,241,243,243,241],1.31,[277,245,295,947,243,241,243,243,241],2.22,[277,248,304,469,243,241,243,243,241],[277,251,304,587,243,241,243,243,241],[277,277,313,678,243,241,243,243,241],[277,286,313,473,243,241,243,243,241],[277,295,321,609,243,241,243,243,241],[277,304,321,833,243,241,243,243,241],[277,313,329,273,243,241,243,243,241],[277,321,329,609,243,241,243,243,241],[277,329,337,271,243,241,243,243,241],[277,337,337,585,243,241,243,243,241],[286,241,295,959,243,241,243,243,241],2.44,[286,245,295,961,243,241,243,243,241],9.35,[286,248,304,945,243,241,243,243,241],[286,251,304,964,243,241,243,243,241],7.28,[286,277,313,772,243,241,243,243,241],[286,286,313,967,243,241,243,243,241],4.63,[286,295,321,846,243,241,243,243,241],[286,304,321,970,243,241,243,243,241],3.68,[286,313,329,664,243,241,243,243,241],[286,321,329,573,243,241,243,243,241],[286,329,337,682,243,241,243,243,241],[286,337,337,300,243,241,243,243,241],[],[977],"VoR Table III",[],[],[981],"Relative rotation error (RRE, deg) and relative translation error (RTE, %) over all sub-sequences of 50 to 300 m in two seaport sequences (Belcher Bay Promenade) with D-GPS RTK ground truth; R3LIVE-HiRes uses 1280x1024 images and 0.01 m map point spacing, R3LIVE-RT 320x256 images and 0.10 m; LVI-SAM run with a modified LiDAR front-end for the Livox Avia; identical values in arXiv v1 and the version of record",{"slug":983,"group":984,"sourceId":985,"sourceLabel":986,"table":153,"selfRows":428,"metrics":987,"seqs":990,"entrants":1015,"cells":1028,"outcomes":1099,"locators":1101,"hardware":1102,"wordings":1103,"notes":1104},"kimera2020-table-ii","kimera2020:Table II","kimera2020","Rosinol et al., 2020",[988],{"label":989,"unit":158,"statistic":159,"alignment":160},"RMSE ATE [m]",[991,995,997,999,1001,1003,1005,1007,1009,1011,1013],{"dataset":992,"sequence":993,"environment":994},"EuRoC MAV","MH_01","EuRoC MAV sequences (micro aerial vehicle dataset, ref. 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comparator values taken from Delmerico and Scaramuzza [77] (Sim(3) alignment per text) and VINS-Mono [24]; comparators use a monocular camera while Kimera uses stereo; Kimera aligned with SE(3); loop threshold alpha = 0.001",[1107,1111,1118,1123,1130,1135,1141,1146,1152,1158,1165,1172,1179,1188,1194,1201,1207,1211,1215,1220,1225,1230,1236],{"group":1108,"slug":1109,"sourceLabel":6,"table":496,"selfRows":428,"datasets":1110},"vinsmono2018:Table I","vinsmono2018-table-i",[81],{"group":1112,"slug":1113,"sourceLabel":1114,"table":153,"selfRows":345,"datasets":1115},"lvisam2021:Table II","lvisam2021-table-ii","Shan et al., 2021",[1116,1117],"Handheld (authors' data)","Jackal (authors' data)",{"group":1119,"slug":1120,"sourceLabel":1121,"table":153,"selfRows":345,"datasets":1122},"orbslam3_2021:Table II","orbslam3-2021-table-ii","Campos et al., 2021",[81],{"group":1124,"slug":1125,"sourceLabel":1126,"table":716,"selfRows":329,"datasets":1127},"cocolic2023:Table III","cocolic2023-table-iii","Lang et al., 2023",[1128,1129],"FAST-LIVO dataset","R3LIVE dataset",{"group":1131,"slug":1132,"sourceLabel":1133,"table":716,"selfRows":329,"datasets":1134},"zhang2018trajeval:Table III","zhang2018trajeval-table-iii","Zhang & Scaramuzza, 2018",[81],{"group":1136,"slug":1137,"sourceLabel":1138,"table":153,"selfRows":313,"datasets":1139},"superodom2021:Table II","superodom2021-table-ii","Zhao et al., 2021",[1140],"authors' DS-drone sensor-suite data (hand-carried)",{"group":1142,"slug":1143,"sourceLabel":6,"table":153,"selfRows":313,"datasets":1144},"vinsmono2018:Table II","vinsmono2018-table-ii",[1145],"HKUST campus (own)",{"group":1147,"slug":1148,"sourceLabel":1149,"table":496,"selfRows":313,"datasets":1150},"voxgraph2020:Table I","voxgraph2020-table-i","Reijgwart et al., 2020",[1151],"Voxgraph MAV field dataset (this paper)",{"group":1153,"slug":1154,"sourceLabel":1155,"table":496,"selfRows":304,"datasets":1156},"camvox2021:Table I","camvox2021-table-i","Zhu et al., 2021",[1157],"SUSTech dataset (CamVox)",{"group":1159,"slug":1160,"sourceLabel":1161,"table":1162,"selfRows":304,"datasets":1163},"yan2026tunnel:Table 1","yan2026tunnel-table-1","Yan et al., 2026a","Table 1",[1164],"Kimera-Multi Campus-Tunnel (KMCT)",{"group":1166,"slug":1167,"sourceLabel":1168,"table":1169,"selfRows":295,"datasets":1170},"asadi2020ugvuav:Table 5","asadi2020ugvuav-table-5","Asadi et al., 2020","Table 5",[1171],"own 3 min test run",{"group":1173,"slug":1174,"sourceLabel":1175,"table":1176,"selfRows":277,"datasets":1177},"chen2025quadrupedinspection:Table 7","chen2025quadrupedinspection-table-7","Chen et al., 2025a","Table 7",[1178],"authors' HKUST corridor recording (ROS bag)",{"group":1180,"slug":1181,"sourceLabel":1182,"table":716,"selfRows":277,"datasets":1183},"gvins2022:Table III","gvins2022-table-iii","Cao et al., 2022",[1184,1185,1186,1187],"GVINS simulation","own dataset: indoor-outdoor","own dataset: sports field","own dataset: urban driving",{"group":1189,"slug":1190,"sourceLabel":1126,"table":1191,"selfRows":251,"datasets":1192},"cocolic2023:Table IV","cocolic2023-table-iv","Table IV",[1193],"UrbanNav",{"group":1195,"slug":1196,"sourceLabel":1197,"table":1198,"selfRows":248,"datasets":1199},"ghadimzadeh2025slamnde:Text Sec.7.1.2","ghadimzadeh2025slamnde-text-sec-7-1-2","Ghadimzadeh Alamdari et al., 2025","Text Sec.7.1.2",[1200],"Luleå SubT tunnel dataset (Koval et al. 2022)",{"group":1202,"slug":1203,"sourceLabel":1161,"table":1204,"selfRows":248,"datasets":1205},"yan2026tunnel:Table 2","yan2026tunnel-table-2","Table 2",[1206],"WHU-Helmet (WHUH)",{"group":1208,"slug":1209,"sourceLabel":152,"table":496,"selfRows":245,"datasets":1210},"dmvio2022:Table I","dmvio2022-table-i",[992],{"group":1212,"slug":1213,"sourceLabel":1197,"table":1204,"selfRows":245,"datasets":1214},"ghadimzadeh2025slamnde:Table 2","ghadimzadeh2025slamnde-table-2",[1200],{"group":1216,"slug":1217,"sourceLabel":1182,"table":1218,"selfRows":245,"datasets":1219},"gvins2022:Text Sec.VIII-B5","gvins2022-text-sec-viii-b5","Text Sec.VIII-B5",[1187],{"group":1221,"slug":1222,"sourceLabel":1121,"table":1223,"selfRows":245,"datasets":1224},"orbslam3_2021:Table V","orbslam3-2021-table-v","Table V",[81],{"group":1226,"slug":1227,"sourceLabel":6,"table":1228,"selfRows":245,"datasets":1229},"vinsmono2018:Text Sec. IX-A-2","vinsmono2018-text-sec-ix-a-2","Text Sec. IX-A-2",[81],{"group":1231,"slug":1232,"sourceLabel":6,"table":1233,"selfRows":245,"datasets":1234},"vinsmono2018:Text Sec. IX-C-1","vinsmono2018-text-sec-ix-c-1","Text Sec. IX-C-1",[1235],"own MAV flight",{"group":1237,"slug":1238,"sourceLabel":6,"table":1239,"selfRows":245,"datasets":1240},"vinsmono2018:Text Sec. VI-E","vinsmono2018-text-sec-vi-e","Text Sec. VI-E",[41],1790510656250]