{"id":"https://openalex.org/W4413925334","doi":"https://doi.org/10.1109/icra55743.2025.11127604","title":"Excavating in the Wild: The GOOSE-Ex Dataset for Semantic Segmentation","display_name":"Excavating in the Wild: The GOOSE-Ex Dataset for Semantic Segmentation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925334","doi":"https://doi.org/10.1109/icra55743.2025.11127604"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","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/A5025829619","display_name":"Raphael Hagmanns","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Raphael Hagmanns","raw_affiliation_strings":["Fraunhofer Institute of Optronics, System Technologies and Image Exploitation,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation,Karlsruhe,Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049356083","display_name":"Peter Mortimer","orcid":"https://orcid.org/0000-0003-1901-6849"},"institutions":[{"id":"https://openalex.org/I40527276","display_name":"Universit\u00e4t der Bundeswehr M\u00fcnchen","ror":"https://ror.org/05kkv3f82","country_code":"DE","type":"education","lineage":["https://openalex.org/I1315109972","https://openalex.org/I40527276","https://openalex.org/I4387152969"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter Mortimer","raw_affiliation_strings":["Institute for Autonomous Systems Technology, University of the Bundeswehr Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Autonomous Systems Technology, University of the Bundeswehr Munich,Germany","institution_ids":["https://openalex.org/I40527276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015300123","display_name":"Miguel Granero","orcid":"https://orcid.org/0009-0002-6045-3039"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Miguel Granero","raw_affiliation_strings":["Fraunhofer Institute of Optronics, System Technologies and Image Exploitation,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation,Karlsruhe,Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016189127","display_name":"Thorsten Luettel","orcid":null},"institutions":[{"id":"https://openalex.org/I40527276","display_name":"Universit\u00e4t der Bundeswehr M\u00fcnchen","ror":"https://ror.org/05kkv3f82","country_code":"DE","type":"education","lineage":["https://openalex.org/I1315109972","https://openalex.org/I40527276","https://openalex.org/I4387152969"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thorsten Luettel","raw_affiliation_strings":["Institute for Autonomous Systems Technology, University of the Bundeswehr Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Autonomous Systems Technology, University of the Bundeswehr Munich,Germany","institution_ids":["https://openalex.org/I40527276"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059340994","display_name":"Janko Petereit","orcid":"https://orcid.org/0000-0003-4715-8908"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Janko Petereit","raw_affiliation_strings":["Fraunhofer Institute of Optronics, System Technologies and Image Exploitation,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation,Karlsruhe,Germany","institution_ids":["https://openalex.org/I4210111500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025829619"],"corresponding_institution_ids":["https://openalex.org/I4210111500"],"apc_list":null,"apc_paid":null,"fwci":4.0495,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94465445,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"10378","last_page":"10386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.954800009727478,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.954800009727478,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/goose","display_name":"Goose","score":0.8125935792922974},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6338526010513306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5929273962974548},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5496422648429871},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4101925194263458},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3503592908382416},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.22717338800430298},{"id":"https://openalex.org/keywords/paleontology","display_name":"Paleontology","score":0.15986764430999756}],"concepts":[{"id":"https://openalex.org/C2781126499","wikidata":"https://www.wikidata.org/wiki/Q16529344","display_name":"Goose","level":2,"score":0.8125935792922974},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6338526010513306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5929273962974548},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5496422648429871},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4101925194263458},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3503592908382416},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.22717338800430298},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.15986764430999756}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11127604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/495280","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/495280","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2115579991","https://openalex.org/W2315999156","https://openalex.org/W2340897893","https://openalex.org/W2600777408","https://openalex.org/W2748021867","https://openalex.org/W2765757095","https://openalex.org/W2886934227","https://openalex.org/W2887964057","https://openalex.org/W2901870313","https://openalex.org/W2954171777","https://openalex.org/W2964186846","https://openalex.org/W2991216808","https://openalex.org/W3000172657","https://openalex.org/W3003922739","https://openalex.org/W3008105217","https://openalex.org/W3035172746","https://openalex.org/W3035564946","https://openalex.org/W3035574168","https://openalex.org/W3120910864","https://openalex.org/W3130281471","https://openalex.org/W3138270694","https://openalex.org/W3161284304","https://openalex.org/W3204102908","https://openalex.org/W3206164009","https://openalex.org/W3217243053","https://openalex.org/W4214586682","https://openalex.org/W4239125530","https://openalex.org/W4283327872","https://openalex.org/W4283785766","https://openalex.org/W4285102400","https://openalex.org/W4285117889","https://openalex.org/W4285304415","https://openalex.org/W4307640240","https://openalex.org/W4312257746","https://openalex.org/W4312339847","https://openalex.org/W4312688875","https://openalex.org/W4312695223","https://openalex.org/W4312815172","https://openalex.org/W4317892894","https://openalex.org/W4323314875","https://openalex.org/W4383108448","https://openalex.org/W4383899472","https://openalex.org/W4385805093","https://openalex.org/W4386075910","https://openalex.org/W4394625660","https://openalex.org/W4401414569","https://openalex.org/W4401415990","https://openalex.org/W4401416866","https://openalex.org/W4402667891","https://openalex.org/W4404572846","https://openalex.org/W4405785230","https://openalex.org/W4405786818"],"related_works":["https://openalex.org/W4376119504","https://openalex.org/W2352925240","https://openalex.org/W2363786849","https://openalex.org/W2353285927","https://openalex.org/W2383472918","https://openalex.org/W2369547891","https://openalex.org/W2270977234","https://openalex.org/W2356484148","https://openalex.org/W3204019825","https://openalex.org/W1522196789"],"abstract_inverted_index":{"The":[0,157],"successful":[1],"deployment":[2,23],"of":[3,79,117],"deep":[4],"learning-based":[5],"techniques":[6],"for":[7,17,26,34,142,166],"autonomous":[8],"systems":[9],"is":[10],"highly":[11],"dependent":[12],"on":[13,104,122,173],"the":[14,18,47,66,77,80,88,118,136],"data":[15],"availability":[16],"respective":[19],"system":[20],"in":[21,69,128],"its":[22,159],"environment.":[24],"Especially":[25],"unstructured":[27,70],"outdoor":[28],"environments,":[29,102],"very":[30],"few":[31],"datasets":[32,138],"exist":[33],"even":[35],"fewer":[36],"robotic":[37,106],"platforms":[38,124],"and":[39,50,108,125,162],"scenarios.":[40],"In":[41,72,131],"an":[42,61],"earlier":[43],"work,":[44,74],"we":[45,75,86,133],"presented":[46],"German":[48],"Outdoor":[49],"Offroad":[51],"Dataset":[52],"(GOOSE)":[53],"framework":[54],"along":[55],"with":[56],"10000":[57],"multimodal":[58,96],"frames":[59,97],"from":[60,98],"offroad":[62,150,167],"vehicle":[63],"to":[64],"enhance":[65],"perception":[67,168],"capabilities":[68],"environments.":[71,130],"this":[73],"address":[76],"generalizability":[78],"GOOSE":[81],"framework.":[82],"To":[83],"accomplish":[84],"this,":[85],"open-source":[87],"GOOSE-Ex":[89],"dataset,":[90,158],"which":[91],"contains":[92],"additional":[93],"5000":[94],"labeled":[95],"various":[99],"completely":[100],"different":[101,123,143],"recorded":[103],"a":[105,109,114],"excavator":[107],"quadruped":[110],"platform.":[111],"We":[112],"perform":[113],"comprehensive":[115],"analysis":[116],"semantic":[119],"segmentation":[120],"performance":[121],"sensor":[126],"modalities":[127],"unseen":[129],"addition,":[132],"demonstrate":[134],"how":[135],"combined":[137],"can":[139],"be":[140,170],"utilized":[141],"downstream":[144],"applications":[145],"or":[146,154],"competitions":[147],"such":[148],"as":[149],"navigation,":[151],"object":[152],"manipulation":[153],"scene":[155],"completion.":[156],"platform":[160],"documentation":[161],"pre-trained":[163],"state-of-the-art":[164],"models":[165],"will":[169],"made":[171],"available":[172],"https://goose-dataset.de/.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
