{"id":"https://openalex.org/W4413917555","doi":"https://doi.org/10.1109/icra55743.2025.11128678","title":"HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-Session Radar SLAM","display_name":"HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-Session Radar SLAM","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917555","doi":"https://doi.org/10.1109/icra55743.2025.11128678"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128678","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/A5100722339","display_name":"Hanjun Kim","orcid":"https://orcid.org/0000-0001-5005-8655"},"institutions":[{"id":"https://openalex.org/I4210095514","display_name":"Korea Automotive Technology Institute","ror":"https://ror.org/00sc3t321","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210095514"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hanjun Kim","raw_affiliation_strings":["SNU,Dept. of Future Automotive Mobility,Seoul,S. Korea"],"affiliations":[{"raw_affiliation_string":"SNU,Dept. of Future Automotive Mobility,Seoul,S. Korea","institution_ids":["https://openalex.org/I4210095514"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102901400","display_name":"Minwoo Jung","orcid":"https://orcid.org/0000-0003-3013-6104"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Minwoo Jung","raw_affiliation_strings":["SNU,Dept. of Mechanical Engineering,Seoul,S. Korea"],"affiliations":[{"raw_affiliation_string":"SNU,Dept. of Mechanical Engineering,Seoul,S. Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072082257","display_name":"Chiyun Noh","orcid":"https://orcid.org/0009-0000-5283-5518"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chiyun Noh","raw_affiliation_strings":["SNU,Dept. of Mechanical Engineering,Seoul,S. Korea"],"affiliations":[{"raw_affiliation_string":"SNU,Dept. of Mechanical Engineering,Seoul,S. Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062576177","display_name":"Sangwoo Jung","orcid":"https://orcid.org/0000-0003-0187-006X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sangwoo Jung","raw_affiliation_strings":["SNU,Dept. of Mechanical Engineering,Seoul,S. Korea"],"affiliations":[{"raw_affiliation_string":"SNU,Dept. of Mechanical Engineering,Seoul,S. Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005994891","display_name":"Haiyu Song","orcid":"https://orcid.org/0000-0003-4772-2855"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hyunho Song","raw_affiliation_strings":["SNU,Dept. of Mechanical Engineering,Seoul,S. Korea"],"affiliations":[{"raw_affiliation_string":"SNU,Dept. of Mechanical Engineering,Seoul,S. Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113429343","display_name":"Wooseong Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wooseong Yang","raw_affiliation_strings":["SNU,Dept. of Mechanical Engineering,Seoul,S. Korea"],"affiliations":[{"raw_affiliation_string":"SNU,Dept. of Mechanical Engineering,Seoul,S. Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066373675","display_name":"Hyesu Jang","orcid":"https://orcid.org/0000-0002-1697-2918"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hyesu Jang","raw_affiliation_strings":["SNU,Dept. of Mechanical Engineering,Seoul,S. Korea"],"affiliations":[{"raw_affiliation_string":"SNU,Dept. of Mechanical Engineering,Seoul,S. Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100740105","display_name":"Ayoung Kim","orcid":"https://orcid.org/0009-0007-7868-0498"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ayoung Kim","raw_affiliation_strings":["SNU,Dept. of Mechanical Engineering,Seoul,S. Korea"],"affiliations":[{"raw_affiliation_string":"SNU,Dept. of Mechanical Engineering,Seoul,S. Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100722339"],"corresponding_institution_ids":["https://openalex.org/I4210095514"],"apc_list":null,"apc_paid":null,"fwci":28.1119,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.99364149,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4649","last_page":"4656"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9889000058174133,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9860000014305115,"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/radar","display_name":"Radar","score":0.6820534467697144},{"id":"https://openalex.org/keywords/session","display_name":"Session (web analytics)","score":0.6582462787628174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6460509896278381},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.43565553426742554},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.40202799439430237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3448587656021118},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.21797508001327515},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20075425505638123},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.1053781509399414}],"concepts":[{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.6820534467697144},{"id":"https://openalex.org/C2779182362","wikidata":"https://www.wikidata.org/wiki/Q17126187","display_name":"Session (web analytics)","level":2,"score":0.6582462787628174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6460509896278381},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.43565553426742554},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.40202799439430237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3448587656021118},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.21797508001327515},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20075425505638123},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.1053781509399414}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128678","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":[{"id":"https://openalex.org/G2757793688","display_name":null,"funder_award_id":"1415187329","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W78175635","https://openalex.org/W2891185125","https://openalex.org/W2910489334","https://openalex.org/W2950380208","https://openalex.org/W2981892497","https://openalex.org/W3035021594","https://openalex.org/W3090139470","https://openalex.org/W3090913682","https://openalex.org/W3091337047","https://openalex.org/W3110571140","https://openalex.org/W3128182865","https://openalex.org/W3133648073","https://openalex.org/W3171843835","https://openalex.org/W3186749970","https://openalex.org/W3206598848","https://openalex.org/W4210674219","https://openalex.org/W4210674304","https://openalex.org/W4308080461","https://openalex.org/W4308480192","https://openalex.org/W4312336128","https://openalex.org/W4312571988","https://openalex.org/W4312811864","https://openalex.org/W4317243195","https://openalex.org/W4327692895","https://openalex.org/W4365420566","https://openalex.org/W4383108717","https://openalex.org/W4383109093","https://openalex.org/W4383200248","https://openalex.org/W4386038339","https://openalex.org/W4389667489","https://openalex.org/W4391768470","https://openalex.org/W4401878935","https://openalex.org/W4402592730","https://openalex.org/W4408411785"],"related_works":["https://openalex.org/W4230197055","https://openalex.org/W4296749040","https://openalex.org/W4404605447","https://openalex.org/W621808327","https://openalex.org/W644007644","https://openalex.org/W2497198634","https://openalex.org/W3012257603","https://openalex.org/W4313855562","https://openalex.org/W2091422131","https://openalex.org/W2742737769"],"abstract_inverted_index":{"Recently,":[0],"radars":[1,22],"have":[2],"been":[3],"widely":[4],"featured":[5],"in":[6,11,80],"robotics":[7],"for":[8,170,176],"their":[9],"robustness":[10],"challenging":[12],"weather":[13,142],"conditions.":[14],"Two":[15],"commonly":[16],"used":[17],"radar":[18,60,72,123,126],"types":[19,61,91],"are":[20,87,200],"spinning":[21,125],"and":[23,82,113,124,134,143,146,166,191,197],"phased-array":[24],"radars,":[25,108],"each":[26,171],"offering":[27,130],"distinct":[28],"sensor":[29,172,192],"characteristics.":[30],"Existing":[31],"datasets":[32],"typically":[33],"feature":[34],"only":[35],"a":[36,70,102,147,154],"single":[37],"type":[38],"of":[39,45,92,149],"radar,":[40],"leading":[41],"to":[42,48,120,185],"the":[43,99,117,182],"development":[44,198],"algorithms":[46],"limited":[47],"that":[49,57],"specific":[50],"kind.":[51],"In":[52,94],"this":[53,75,95],"work,":[54],"we":[55,97],"highlight":[56],"combining":[58],"different":[59,90],"offers":[62],"complementary":[63],"advantages,":[64],"which":[65],"can":[66],"be":[67],"leveraged":[68],"through":[69],"heterogeneous":[71,107],"dataset.":[73],"Moreover,":[74],"new":[76],"dataset":[77,105,119,139,184,196],"fosters":[78],"research":[79],"multi-session":[81],"multirobot":[83],"scenarios":[84],"where":[85],"robots":[86],"equipped":[88],"with":[89,106,163],"radars.":[93],"context,":[96],"introduce":[98],"HeRCULES":[100,183],"dataset,":[101],"comprehensive,":[103],"multi-modal":[104],"FMCW":[109,128],"LiDAR,":[110,129],"IMU,":[111],"GPS,":[112],"cameras.":[114],"This":[115],"is":[116],"first":[118],"integrate":[121],"4D":[122],"alongside":[127],"unparalleled":[131],"localization,":[132],"mapping,":[133,188],"place":[135,177,189],"recognition":[136,178],"capabilities.":[137],"The":[138,160,195],"covers":[140],"diverse":[141],"lighting":[144],"conditions":[145],"range":[148],"urban":[150],"traffic":[151],"scenarios,":[152],"enabling":[153],"comprehensive":[155],"analysis":[156],"across":[157],"various":[158],"environments.":[159],"sequence":[161],"paths":[162],"multiple":[164],"revisits":[165],"ground":[167],"truth":[168],"pose":[169],"enhance":[173],"its":[174],"suitability":[175],"research.":[179,194],"We":[180],"expect":[181],"facilitate":[186],"odometry,":[187],"recognition,":[190],"fusion":[193],"tools":[199],"available":[201],"at":[202],"https://sites.google.com/view/herculesdataset.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}