{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,22]],"date-time":"2026-08-22T01:25:37Z","timestamp":1787361937474,"version":"build-2736575974"},"reference-count":47,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2012,10]]},"DOI":"10.1109\/iros.2012.6385773","type":"proceedings-article","created":{"date-parts":[[2013,1,2]],"date-time":"2013-01-02T23:15:05Z","timestamp":1357168505000},"page":"573-580","source":"Crossref","is-referenced-by-count":3343,"title":["A benchmark for the evaluation of RGB-D SLAM systems"],"prefix":"10.1109","author":[{"given":"Jrgen","family":"Sturm","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nikolas","family":"Engelhard","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Felix","family":"Endres","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wolfram","family":"Burgard","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniel","family":"Cremers","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"19","doi-asserted-by":"crossref","first-page":"699","DOI":"10.1002\/rob.20209","article-title":"6D SLAM - 3D mapping outdoor environments: Research articles","volume":"24","author":"nu?chter","year":"2007","journal-title":"J Field Robot"},{"key":"35","article-title":"SLAM in real applications","author":"vincent","year":"2011","journal-title":"RSS Workshop on Automated SLAM Evaluation"},{"key":"17","article-title":"FastSLAM: A factored solution to the simultaneous localization and mapping problem","author":"montemerlo","year":"2002","journal-title":"Proc Nat Conf Artificial Intelligence (AAAI)"},{"key":"36","article-title":"Large scale visual odometry for rough terrain","author":"konolige","year":"2007","journal-title":"International Symposium on Robotics Research"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889486"},{"key":"33","article-title":"Towards a benchmark for RGB-D SLAM evaluation","author":"sturm","year":"2011","journal-title":"Proc of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at RSS"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-005-0006-y"},{"key":"34","article-title":"Evaluating the performance of map optimization algorithms","author":"olson","year":"2009","journal-title":"RSS Workshop on Good Experimental Methodology in Robotics"},{"key":"16","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-15986-2_2","article-title":"Real-time dense geometry from a handheld camera","author":"stu?hmer","year":"2010","journal-title":"Symposium for Pattern Recognition of the DAGM"},{"key":"39","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399026"},{"key":"13","article-title":"Real-time 3-D motion and structure of point features: Front-end system for vision-based control and interaction","author":"jin","year":"2000","journal-title":"IEEE Conf on Computer Vision and Pattern Recognition (CVPR)"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1145\/514236.514263"},{"key":"37","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9155-6"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2009.2026444"},{"key":"38","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354691"},{"key":"12","doi-asserted-by":"crossref","DOI":"10.1109\/ICRA.2011.5979949","article-title":"G2o: A general framework for graph optimization","author":"ku?mmerle","year":"2011","journal-title":"IEEE Intl Conf on Robotics and Automation (ICRA)"},{"key":"21","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2009.V.021","article-title":"Generalized-ICP","author":"segal","year":"2009","journal-title":"Robotics Science and Systems (RSS)"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20314"},{"key":"43","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2011.6130380"},{"key":"42","year":"0","journal-title":"Raptor-E Digital RealTime System"},{"key":"41","year":"0","journal-title":"Introducing OpenNI"},{"key":"40","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-010-0390-2"},{"key":"45","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041326"},{"key":"44","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2011.6130321"},{"key":"47","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225199"},{"key":"46","doi-asserted-by":"publisher","DOI":"10.1364\/JOSAA.4.000629"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-74936-3_13"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354121"},{"key":"24","article-title":"Scale drift-aware large scale monocular SLAM","author":"strasdat","year":"2010","journal-title":"Proc of Robotics Science and Systems (RSS)"},{"key":"25","article-title":"Outdoor mapping and navigation using stereo vision","author":"konolige","year":"2007","journal-title":"Int Symp Experimental Robotics"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909356601"},{"key":"27","author":"stachniss","year":"0","journal-title":"Laser-based SLAM Datasets"},{"key":"28","year":"0"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909103911"},{"key":"3","article-title":"Realtime 3D visual SLAM with a hand-held RGB-D camera","author":"engelhard","year":"2011","journal-title":"Proceedings of RGB-D Workshop on 3D Perception in Robotics European Robotics Forum"},{"key":"2","article-title":"RGB-D mapping: Using depth cameras for dense 3D modeling of indoor environments","author":"henry","year":"2010","journal-title":"Int Symp Experimental Robotics"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"1","year":"0"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072768"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2011.5995462"},{"key":"5","article-title":"KinectFusion: Real-time dense surface mapping and tracking","author":"newcombe","year":"2011","journal-title":"Proc Int Symp on Mixed and Augmented Reality (ISMAR)"},{"key":"31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094861"},{"key":"4","article-title":"Real-time dense appearance-based SLAM for RGB-D sensors","author":"audras","year":"2011","journal-title":"Australasian Conf on Robotics and Automation"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"8","article-title":"Fast iterative optimization of pose graphs with poor initial estimates","author":"olson","year":"2006","journal-title":"IEEE Intl Conf on Robotics and Automation (ICRA)"}],"event":{"name":"2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)","location":"Vilamoura-Algarve, Portugal","start":{"date-parts":[[2012,10,7]]},"end":{"date-parts":[[2012,10,12]]}},"container-title":["2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/6363628\/6385431\/06385773.pdf?arnumber=6385773","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,7,19]],"date-time":"2020-07-19T14:22:11Z","timestamp":1595168531000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6385773\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,10]]},"references-count":47,"URL":"https:\/\/doi.org\/10.1109\/iros.2012.6385773","relation":{},"subject":[],"published":{"date-parts":[[2012,10]]}}}