{"id":"https://openalex.org/W4413925403","doi":"https://doi.org/10.1109/icra55743.2025.11128593","title":"DiTer++: Diverse Terrain and Multi-Modal Dataset for Multi-Robot SLAM in Multi-Session Environments","display_name":"DiTer++: Diverse Terrain and Multi-Modal Dataset for Multi-Robot SLAM in Multi-Session Environments","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925403","doi":"https://doi.org/10.1109/icra55743.2025.11128593"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128593","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/A5100665642","display_name":"Ju\u2010Won Kim","orcid":"https://orcid.org/0000-0001-5491-7103"},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Juwon Kim","raw_affiliation_strings":["Inha University,Younggun Cho are with the Electrical and Computer Engineering,Incheon,South Korea"],"affiliations":[{"raw_affiliation_string":"Inha University,Younggun Cho are with the Electrical and Computer Engineering,Incheon,South Korea","institution_ids":["https://openalex.org/I191879574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101969210","display_name":"Hogyun Kim","orcid":"https://orcid.org/0009-0004-2373-1268"},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hogyun Kim","raw_affiliation_strings":["Inha University,Younggun Cho are with the Electrical and Computer Engineering,Incheon,South Korea"],"affiliations":[{"raw_affiliation_string":"Inha University,Younggun Cho are with the Electrical and Computer Engineering,Incheon,South Korea","institution_ids":["https://openalex.org/I191879574"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Seokhwan Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seokhwan Jeong","raw_affiliation_strings":["Inha University,Younggun Cho are with the Electrical and Computer Engineering,Incheon,South Korea"],"affiliations":[{"raw_affiliation_string":"Inha University,Younggun Cho are with the Electrical and Computer Engineering,Incheon,South Korea","institution_ids":["https://openalex.org/I191879574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025703930","display_name":"Young-Sik Shin","orcid":"https://orcid.org/0000-0002-9653-0633"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngsik Shin","raw_affiliation_strings":["Korea Institute of Machinery and Materials,Depart. of AI Machinery,Daejeon,South Korea"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Machinery and Materials,Depart. of AI Machinery,Daejeon,South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065477392","display_name":"Younggun Cho","orcid":"https://orcid.org/0000-0003-2025-7770"},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Younggun Cho","raw_affiliation_strings":["Inha University,Younggun Cho are with the Electrical and Computer Engineering,Incheon,South Korea"],"affiliations":[{"raw_affiliation_string":"Inha University,Younggun Cho are with the Electrical and Computer Engineering,Incheon,South Korea","institution_ids":["https://openalex.org/I191879574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100665642"],"corresponding_institution_ids":["https://openalex.org/I191879574"],"apc_list":null,"apc_paid":null,"fwci":24.7151,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.99237428,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12187","last_page":"12193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965000152587891,"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":0.9965000152587891,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958999752998352,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/session","display_name":"Session (web analytics)","score":0.7612733840942383},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7233596444129944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7099612951278687},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6900287866592407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6035645008087158},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42146021127700806},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14375880360603333},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.07864135503768921},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.0746801495552063}],"concepts":[{"id":"https://openalex.org/C2779182362","wikidata":"https://www.wikidata.org/wiki/Q17126187","display_name":"Session (web analytics)","level":2,"score":0.7612733840942383},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7233596444129944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7099612951278687},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6900287866592407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6035645008087158},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42146021127700806},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14375880360603333},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.07864135503768921},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0746801495552063},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128593","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2213518912","https://openalex.org/W2565998037","https://openalex.org/W2910489334","https://openalex.org/W3201256746","https://openalex.org/W3203066970","https://openalex.org/W4205616157","https://openalex.org/W4221150082","https://openalex.org/W4226007707","https://openalex.org/W4281555123","https://openalex.org/W4285147600","https://openalex.org/W4285506552","https://openalex.org/W4312840162","https://openalex.org/W4362698359","https://openalex.org/W4385975620","https://openalex.org/W4389667055","https://openalex.org/W4391305576","https://openalex.org/W4391305703","https://openalex.org/W4401386981","https://openalex.org/W4401414941","https://openalex.org/W4401415409","https://openalex.org/W4402727356","https://openalex.org/W4411136809"],"related_works":["https://openalex.org/W4230197055","https://openalex.org/W4296749040","https://openalex.org/W4404605447","https://openalex.org/W621808327","https://openalex.org/W4399671601","https://openalex.org/W644007644","https://openalex.org/W2497198634","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946"],"abstract_inverted_index":{"We":[0],"encounter":[1],"large-scale":[2,30,65],"environments":[3],"where":[4],"both":[5],"structured":[6],"and":[7,20,41,57,68,99,105,114],"unstructured":[8],"spaces":[9],"coexist,":[10],"such":[11,33],"as":[12],"on":[13],"campuses.":[14],"In":[15],"this":[16],"environment,":[17],"lighting":[18],"conditions":[19],"dynamic":[21,97],"objects":[22,98],"change":[23],"constantly.":[24],"To":[25,79],"tackle":[26],"the":[27,60,81,89,96,102,107],"challenges":[28],"of":[29,83],"mapping":[31,66],"under":[32],"conditions,":[34],"we":[35,72,86,94],"introduce":[36],"DiTer++,":[37],"a":[38],"diverse":[39],"terrain":[40],"multi-modal":[42],"dataset":[43,113],"designed":[44],"for":[45,63,76],"multi-robot":[46],"SLAM":[47],"in":[48],"multi-session":[49],"environments.":[50],"According":[51],"to":[52],"our":[53],"datasets'":[54],"scenarios,":[55],"Agent-A":[56],"Agent-B":[58],"scan":[59],"area":[61],"designated":[62],"efficient":[64],"day":[67],"night,":[69],"respectively.":[70],"Also,":[71],"utilize":[73],"legged":[74],"robots":[75],"terrain-agnostic":[77],"traversing.":[78],"generate":[80],"ground-truth":[82],"each":[84],"robot,":[85],"first":[87],"build":[88],"survey-grade":[90],"prior":[91,103],"map.":[92],"Then,":[93],"remove":[95],"outliers":[100],"from":[101],"map":[104],"extract":[106],"trajectory":[108],"through":[109],"scan-to-map":[110],"matching.":[111],"Our":[112],"supplement":[115],"materials":[116],"are":[117],"available":[118],"at":[119],"https://github.com/sparolab/DiTer-plusplus/.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}