VBR: A Vision Benchmark in Rome

arXiv:2404.11322v1 Announce Type: new
Abstract: This paper presents a vision and perception research dataset collected in Rome, featuring RGB data, 3D point clouds, IMU, and GPS data. We introduce a new benchmark targeting visual odometry and SLAM, to advance the research in autonomous robotics and computer vision. This work complements existing datasets by simultaneously addressing several issues, such as environment diversity, motion patterns, and sensor frequency. It uses up-to-date devices and presents effective procedures to accurately calibrate the intrinsic and …

abstract advance arxiv autonomous benchmark computer computer vision cs.cv cs.ro data dataset datasets gps paper perception research robotics slam targeting type vision visual work