Abstract
Visual-inertial Simultaneous Localization and Mapping (VI-SLAM) for UAVs remains difficult to evaluate in real forest environments, where motion, illumination changes, repetitive vegetation, and vibration can all affect estimation. We present ForVis, an in-field dataset and benchmark for evaluating VI-SLAM during UAV flight in forest environments. The dataset contains twelve flights across open meadow, above-canopy, and under-canopy conditions in each environment. In total, it provides 563.8s of flight over 1096.8m of trajectory, recorded simultaneously with an Intel RealSense D435i and an OAK-D Pro Wide together with inertial and flight-controller data. We benchmark seven open-source VI-SLAM systems over 504 runs. The results show that sensor choice has a larger effect on trajectory error than the spread between algorithms: all seven methods achieve lower median error on the OAK-D Pro than on the D435i. ForVis is intended to support evaluation of speed, accuracy and robustness for VI-SLAM in challenging forest flight.
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Cite this article
APA 7
Kiani, A., Ataei, M., Gyaase, E., Eiyike, J., Weiskittel, A., Chakraborty, P., & Dhiman, V. (2026). ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests. https://omanscience.com/en/articles/forvis-an-in-field-dataset-and-benchmark-for-vio-using-under-canopy-uav-flights-in-forests
MLA 9
Kiani, Arman, et al. "ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests." https://omanscience.com/en/articles/forvis-an-in-field-dataset-and-benchmark-for-vio-using-under-canopy-uav-flights-in-forests.
Chicago (author–date)
Kiani, Arman, Masoud Ataei, Elvis Gyaase, Jeffrey Eiyike, Aaron Weiskittel, Prabuddha Chakraborty, and Vikas Dhiman. 2026. "ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests." https://omanscience.com/en/articles/forvis-an-in-field-dataset-and-benchmark-for-vio-using-under-canopy-uav-flights-in-forests.
Harvard
Kiani, A., Ataei, M., Gyaase, E., Eiyike, J., Weiskittel, A., Chakraborty, P. and Dhiman, V. (2026) 'ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests', Available at: https://omanscience.com/en/articles/forvis-an-in-field-dataset-and-benchmark-for-vio-using-under-canopy-uav-flights-in-forests.
Vancouver
Kiani A, Ataei M, Gyaase E, Eiyike J, Weiskittel A, Chakraborty P, et al. ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests. https://omanscience.com/en/articles/forvis-an-in-field-dataset-and-benchmark-for-vio-using-under-canopy-uav-flights-in-forests
IEEE
A. Kiani, M. Ataei, E. Gyaase, J. Eiyike, A. Weiskittel, P. Chakraborty, and V. Dhiman, "ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests," https://omanscience.com/en/articles/forvis-an-in-field-dataset-and-benchmark-for-vio-using-under-canopy-uav-flights-in-forests.