VECtor Benchmark

A Versatile Event-Centric Benchmark for Multi-Sensor SLAM


The first SLAM benchmark datasets which simultaneously satisfy the following requirements:


Sept 20, 2022 Watch our video presentation for IROS'22 on Youtube or on Bilibili.
Jun 30, 2022 All data sequences have been uploaded. Enjoy!
May 18, 2022 A document containing evaluations for all data sequences can be found at here.
Apr 16, 2022 Dataset toolbox and data samples are now available.
Mar 24, 2022 Calibration toolbox, along with data sequences and calibration results, is now available.
Feb 24, 2022 VECtor Benchmark goes live!


Please cite the following publication when using this benchmark in an academic context:

  1. RA-L
    VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM
    L. Gao, Y. Liang, J. Yang, S. Wu, C. Wang, J. Chen, and L. Kneip
    IEEE Robotics and Automation Letters 2022


This datasets, along with documentation and toolbox, are released under the BSD 3-Clause Clear License.


This work was supported by the Natural Science Foundation of Shanghai (grant number 22ZR1441300), as well as the generous support provided by our industry partner Stereye Intelligent Technology.