Preprint Open access
ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests
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 f …