{"id":"https://openalex.org/W4387123825","doi":"https://doi.org/10.1109/case56687.2023.10260618","title":"Challenges of Indoor SLAM: A Multi-Modal Multi-Floor Dataset for SLAM Evaluation","display_name":"Challenges of Indoor SLAM: A Multi-Modal Multi-Floor Dataset for SLAM Evaluation","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387123825","doi":"https://doi.org/10.1109/case56687.2023.10260618"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260618","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066616671","display_name":"Pushyami Kaveti","orcid":"https://orcid.org/0000-0002-2182-7985"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pushyami Kaveti","raw_affiliation_strings":["Northeastern University,Boston,MA,USA","Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101967811","display_name":"Aniket Gupta","orcid":"https://orcid.org/0009-0001-1349-2708"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aniket Gupta","raw_affiliation_strings":["Northeastern University,Boston,MA,USA","Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092189543","display_name":"Dennis Giaya","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Giaya","raw_affiliation_strings":["Northeastern University,Boston,MA,USA","Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092189544","display_name":"Madeline Karp","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Madeline Karp","raw_affiliation_strings":["Northeastern University,Boston,MA,USA","Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084981747","display_name":"Colin Keil","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Colin Keil","raw_affiliation_strings":["Northeastern University,Boston,MA,USA","Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017701582","display_name":"Jagatpreet Singh Nir","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jagatpreet Nir","raw_affiliation_strings":["Northeastern University,Boston,MA,USA","Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100352627","display_name":"Zhiyong Zhang","orcid":"https://orcid.org/0009-0002-5936-029X"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiyong Zhang","raw_affiliation_strings":["Northeastern University,Boston,MA,USA","Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047246028","display_name":"Hanumant Singh","orcid":"https://orcid.org/0000-0002-4975-3244"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanumant Singh","raw_affiliation_strings":["Northeastern University,Boston,MA,USA","Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5066616671"],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":3.5294,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.922163,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7211368083953857},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7143323421478271},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7025551795959473},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6958882808685303},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6639407277107239},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.6190516948699951},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5865880250930786},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.5382506847381592},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5346260666847229},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.49425578117370605},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4544225037097931},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38652801513671875},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30857813358306885},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12196895480155945},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09159839153289795}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7211368083953857},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7143323421478271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7025551795959473},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6958882808685303},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6639407277107239},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.6190516948699951},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5865880250930786},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.5382506847381592},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5346260666847229},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.49425578117370605},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4544225037097931},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38652801513671875},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30857813358306885},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12196895480155945},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09159839153289795},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case56687.2023.10260618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260618","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1989484209","https://openalex.org/W1992989752","https://openalex.org/W1998058414","https://openalex.org/W2115579991","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2464674920","https://openalex.org/W2558027072","https://openalex.org/W2564632156","https://openalex.org/W2565233142","https://openalex.org/W2620406343","https://openalex.org/W2738820790","https://openalex.org/W2789100425","https://openalex.org/W2797395780","https://openalex.org/W2887564721","https://openalex.org/W2909816247","https://openalex.org/W2909908358","https://openalex.org/W2997495511","https://openalex.org/W3004734937","https://openalex.org/W3011463348","https://openalex.org/W3043971245","https://openalex.org/W3098250009","https://openalex.org/W3098486636","https://openalex.org/W3124420883","https://openalex.org/W3132401233","https://openalex.org/W3193551877","https://openalex.org/W3199417960","https://openalex.org/W3200664388","https://openalex.org/W3206164009","https://openalex.org/W4212798142","https://openalex.org/W4224288103","https://openalex.org/W4311463255","https://openalex.org/W6719264329","https://openalex.org/W6738649838","https://openalex.org/W6748528437","https://openalex.org/W6800540912"],"related_works":["https://openalex.org/W2625455490","https://openalex.org/W4285265093","https://openalex.org/W2921707373","https://openalex.org/W3121477536","https://openalex.org/W4324290685","https://openalex.org/W4383748483","https://openalex.org/W2734306012","https://openalex.org/W3011348788","https://openalex.org/W2028864324","https://openalex.org/W2134943711"],"abstract_inverted_index":{"Robustness":[0],"in":[1,26,44,52,68],"Simultaneous":[2],"Localization":[3],"and":[4,30,91,159,173,187],"Mapping":[5],"(SLAM)":[6],"remains":[7],"one":[8],"of":[9,17,119,196],"the":[10,14,27,53,166,175,179,197,212],"key":[11],"challenges":[12],"for":[13,210],"real-world":[15,45,60],"deployment":[16],"autonomous":[18],"systems.":[19],"SLAM":[20,80,171],"research":[21,54],"has":[22],"seen":[23],"significant":[24],"progress":[25],"last":[28],"two":[29],"a":[31,49,76,87,101,114,148,155,160],"half":[32],"decades,":[33],"yet":[34],"many":[35],"state-of-the-art":[36],"(SOTA)":[37],"algorithms":[38,172],"still":[39],"struggle":[40],"to":[41,132,136],"perform":[42],"reliably":[43],"environments.":[46],"There":[47],"is":[48,117,130,218],"general":[50],"consensus":[51],"community":[55],"that":[56,86,194],"we":[57,74,168],"need":[58],"challenging":[59,83,209],"scenarios":[61,85],"which":[62],"bring":[63],"out":[64],"different":[65],"failure":[66],"modes":[67],"sensing":[69],"modalities.":[70],"In":[71],"this":[72],"paper,":[73],"present":[75],"novel":[77],"multi-modal":[78],"indoor":[79],"dataset":[81,198,217],"covering":[82],"common":[84],"robot":[88],"will":[89],"encounter":[90],"should":[92],"be":[93],"robust":[94],"to.":[95],"Our":[96],"data":[97,206],"was":[98],"collected":[99],"with":[100,165,201],"mobile":[102],"robotics":[103],"platform":[104],"across":[105,126],"multiple":[106],"floors":[107,127],"at":[108,220],"Northeastern":[109],"University's":[110],"ISEC":[111],"building.":[112],"Such":[113],"multi-floor":[115],"sequence":[116],"typical":[118],"commercial":[120],"office":[121],"spaces":[122],"characterized":[123],"by":[124],"symmetry":[125],"and,":[128],"thus,":[129],"prone":[131],"perceptual":[133,183],"aliasing":[134],"due":[135],"similar":[137],"floor":[138],"layouts.":[139],"The":[140,190,216],"sensor":[141],"suite":[142],"comprises":[143],"seven":[144],"global":[145],"shutter":[146],"cameras,":[147],"high-grade":[149],"MEMS":[150],"inertial":[151],"measurement":[152],"unit":[153],"(IMU),":[154],"ZED":[156],"stereo":[157],"camera,":[158],"128-channel":[161],"high-resolution":[162],"lidar.":[163],"Along":[164],"dataset,":[167],"benchmark":[169],"several":[170],"highlight":[174],"problems":[176],"faced":[177],"during":[178],"runs,":[180],"such":[181],"as":[182],"aliasing,":[184],"visual":[185],"degradation,":[186],"trajectory":[188],"drift.":[189],"benchmarking":[191],"results":[192],"indicate":[193],"parts":[195],"work":[199],"well":[200],"some":[202],"algorithms,":[203],"while":[204],"other":[205],"sections":[207],"are":[208],"even":[211],"best":[213],"SOTA":[214],"algorithms.":[215],"available":[219],"https://github.com/neufieldrobotics/NUFR-M3F.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}