{"id":"https://openalex.org/W4413917270","doi":"https://doi.org/10.1109/icra55743.2025.11128697","title":"Digiforests: a Longitudinal Lidar Dataset for Forestry Robotics","display_name":"Digiforests: a Longitudinal Lidar Dataset for Forestry Robotics","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917270","doi":"https://doi.org/10.1109/icra55743.2025.11128697"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128697","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":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093479888","display_name":"Meher V. R. Malladi","orcid":"https://orcid.org/0000-0002-2929-4933"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Meher V. R. Malladi","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079779228","display_name":"Nived Chebrolu","orcid":"https://orcid.org/0000-0001-6408-4459"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nived Chebrolu","raw_affiliation_strings":["University of Oxford,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514368","display_name":"Irene Scacchetti","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Irene Scacchetti","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093479887","display_name":"Luca Lobefaro","orcid":"https://orcid.org/0009-0009-8391-8776"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Luca Lobefaro","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016069215","display_name":"Tiziano Guadagnino","orcid":"https://orcid.org/0000-0002-7853-5510"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tiziano Guadagnino","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033093062","display_name":"Beno\u00eet Casseau","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Beno\u00eet Casseau","raw_affiliation_strings":["University of Oxford,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111153033","display_name":"Haedam Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Haedam Oh","raw_affiliation_strings":["University of Oxford,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073660008","display_name":"Leonard Frei\u00dfmuth","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Leonard Frei\u00dfmuth","raw_affiliation_strings":["Technical University of Munich,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Markus Karppinen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150319","display_name":"Bluefors (Finland)","ror":"https://ror.org/03nrjn370","country_code":"FI","type":"company","lineage":["https://openalex.org/I4210150319"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Markus Karppinen","raw_affiliation_strings":["PreFor Oy,Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PreFor Oy,Finland","institution_ids":["https://openalex.org/I4210150319"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078476455","display_name":"Janine Schweier","orcid":"https://orcid.org/0000-0003-4435-3089"},"institutions":[{"id":"https://openalex.org/I2800262456","display_name":"Swiss Federal Institute for Forest, Snow and Landscape Research","ror":"https://ror.org/04bs5yc70","country_code":"CH","type":"facility","lineage":["https://openalex.org/I2799323385","https://openalex.org/I2800262456"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Janine Schweier","raw_affiliation_strings":["Swiss Federal Institute for Forest, Snow and Landscape Research,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute for Forest, Snow and Landscape Research,Switzerland","institution_ids":["https://openalex.org/I2800262456"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006726091","display_name":"Stefan Leutenegger","orcid":"https://orcid.org/0000-0002-7998-3737"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Leutenegger","raw_affiliation_strings":["Technical University of Munich,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068364473","display_name":"Jens Behley","orcid":"https://orcid.org/0000-0001-6483-0319"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Behley","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Bonn,Center for Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn,Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["University of Oxford,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":14,"corresponding_author_ids":["https://openalex.org/A5093479888"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":5.5984,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96236616,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1459","last_page":"1466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11880","display_name":"Forest ecology and management","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2309","display_name":"Nature and Landscape Conservation"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12713","display_name":"Forest Ecology and Biodiversity Studies","score":0.972000002861023,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6987491846084595},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6697155237197876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6289072036743164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5253856778144836},{"id":"https://openalex.org/keywords/forestry","display_name":"Forestry","score":0.4045494794845581},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.37229880690574646},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35738855600357056},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33316540718078613},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.24981346726417542}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6987491846084595},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6697155237197876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6289072036743164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5253856778144836},{"id":"https://openalex.org/C97137747","wikidata":"https://www.wikidata.org/wiki/Q38112","display_name":"Forestry","level":1,"score":0.4045494794845581},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.37229880690574646},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35738855600357056},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33316540718078613},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.24981346726417542}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11128697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128697","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:dora:wsl_41470","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401379","display_name":"DORA WSL (Swiss Federal Institute for Forest, Snow and Landscape Research)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800262456","host_organization_name":"Swiss Federal Institute for Forest, Snow and Landscape Research","host_organization_lineage":["https://openalex.org/I2800262456"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2025 IEEE international conference on robotics and automation (ICRA 2025)","raw_type":"info:eu-repo/semantics/acceptedVersion"}],"best_oa_location":{"id":"pmh:oai:dora:wsl_41470","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401379","display_name":"DORA WSL (Swiss Federal Institute for Forest, Snow and Landscape Research)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800262456","host_organization_name":"Swiss Federal Institute for Forest, Snow and Landscape Research","host_organization_lineage":["https://openalex.org/I2800262456"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2025 IEEE international conference on robotics and automation (ICRA 2025)","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W1971492281","https://openalex.org/W2066229257","https://openalex.org/W2108598243","https://openalex.org/W2125188427","https://openalex.org/W2150066425","https://openalex.org/W2280788228","https://openalex.org/W2340897893","https://openalex.org/W2345545404","https://openalex.org/W2436494909","https://openalex.org/W2558027072","https://openalex.org/W2594519801","https://openalex.org/W2910628332","https://openalex.org/W2963125977","https://openalex.org/W2963350373","https://openalex.org/W2991216808","https://openalex.org/W2999219213","https://openalex.org/W3035574168","https://openalex.org/W3048942692","https://openalex.org/W3125213608","https://openalex.org/W3132401233","https://openalex.org/W3152786524","https://openalex.org/W3178901079","https://openalex.org/W3201256746","https://openalex.org/W3207776935","https://openalex.org/W3215497122","https://openalex.org/W4283816339","https://openalex.org/W4292559883","https://openalex.org/W4295854865","https://openalex.org/W4307934663","https://openalex.org/W4311463255","https://openalex.org/W4312936819","https://openalex.org/W4313485567","https://openalex.org/W4315778466","https://openalex.org/W4315783786","https://openalex.org/W4381786131","https://openalex.org/W4391454542","https://openalex.org/W4400062053","https://openalex.org/W4400762114","https://openalex.org/W4401416182","https://openalex.org/W4402670584","https://openalex.org/W4405778827","https://openalex.org/W4405778954","https://openalex.org/W4405785998","https://openalex.org/W4405786011","https://openalex.org/W4405786880","https://openalex.org/W4413926211"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692"],"abstract_inverted_index":{"Forests":[0],"are":[1],"vital":[2],"to":[3,18,94,98,166,191,195],"our":[4],"ecosystems,":[5],"acting":[6],"as":[7,146,148],"carbon":[8],"sinks,":[9],"climate":[10],"stabilizers,":[11],"biodiversity":[12],"centers,":[13],"and":[14,22,38,55,82,140,155,186,199],"wood":[15],"sources.":[16],"Due":[17],"their":[19],"scale,":[20],"monitoring":[21],"managing":[23],"forests":[24],"takes":[25],"a":[26,71,112,126,170],"lot":[27],"of":[28,52,84,104,107,137,144,152,163,172],"work.":[29],"Forestry":[30],"robotics":[31,53,77],"offers":[32],"the":[33,50,80,108,123,173,177,193],"potential":[34],"for":[35,75,86,169],"enabling":[36],"efficient":[37],"sustainable":[39],"foresting":[40],"practices":[41],"through":[42],"automation.":[43],"Despite":[44],"increasing":[45],"interest":[46],"in":[47,57,63,111,114,202],"this":[48,64,67,203],"field,":[49],"scarcity":[51],"datasets":[54],"benchmarks":[56],"forest":[58,113],"environments":[59],"is":[60],"hampering":[61],"progress":[62],"domain.":[65,204],"In":[66],"paper,":[68],"we":[69,133,158,179],"present":[70],"real-world,":[72],"longitudinal":[73],"dataset":[74,102],"forestry":[76,99,167],"that":[78],"enables":[79],"development":[81],"comparison":[83],"approaches":[85,190],"various":[87],"relevant":[88,97,165],"applications,":[89],"ranging":[90],"from":[91],"semantic":[92,135],"interpretation":[93],"estimating":[95],"traits":[96,164],"management.":[100],"The":[101],"consists":[103],"multiple":[105],"recordings":[106],"same":[109],"plots":[110],"Switzerland":[115],"during":[116],"three":[117],"different":[118],"growth":[119],"periods.":[120],"We":[121],"recorded":[122],"data":[124],"with":[125,176],"mobile":[127],"3D":[128],"LiDAR":[129],"scanning":[130],"setup.":[131],"Additionally,":[132],"provide":[134,159,181],"annotations":[136,143,151],"trees,":[138,145],"shrubs,":[139],"ground,":[141],"instance-level":[142],"well":[147],"more":[149],"fine-grained":[150],"tree":[153,187],"stems":[154],"crowns.":[156],"Furthermore,":[157],"reference":[160],"field":[161],"measurements":[162],"management":[168],"subset":[171],"trees.":[174],"Together":[175],"data,":[178],"also":[180],"open-source":[182],"baseline":[183],"panoptic":[184],"segmentation":[185],"trait":[188],"estimation":[189],"enable":[192],"community":[194],"bootstrap":[196],"further":[197],"research":[198],"simplify":[200],"comparisons":[201]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-27T09:02:27.158192","created_date":"2025-10-10T00:00:00"}
