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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
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