{"id":"https://openalex.org/W4401416866","doi":"https://doi.org/10.1109/icra57147.2024.10611298","title":"The GOOSE Dataset for Perception in Unstructured Environments","display_name":"The GOOSE Dataset for Perception in Unstructured Environments","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416866","doi":"https://doi.org/10.1109/icra57147.2024.10611298"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/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":true,"raw_author_name":"Peter Mortimer","raw_affiliation_strings":["University of the Bundeswehr,Institute for Autonomous Systems Technology,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"University of the Bundeswehr,Institute for Autonomous Systems Technology,Munich,Germany","institution_ids":["https://openalex.org/I40527276"]}]},{"author_position":"middle","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":false,"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/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":["University of the Bundeswehr,Institute for Autonomous Systems Technology,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"University of the Bundeswehr,Institute for Autonomous Systems Technology,Munich,Germany","institution_ids":["https://openalex.org/I40527276"]}]},{"author_position":"middle","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"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109250847","display_name":"Hans\u2010Joachim Wuensche","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":"Hans-Joachim Wuensche","raw_affiliation_strings":["University of the Bundeswehr,Institute for Autonomous Systems Technology,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"University of the Bundeswehr,Institute for Autonomous Systems Technology,Munich,Germany","institution_ids":["https://openalex.org/I40527276"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5049356083"],"corresponding_institution_ids":["https://openalex.org/I40527276"],"apc_list":null,"apc_paid":null,"fwci":5.6184,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.96964445,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"14838","last_page":"14844"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9984999895095825,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9984999895095825,"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/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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940000176429749,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/goose","display_name":"Goose","score":0.9038271307945251},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7063714265823364},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5789654850959778},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41492918133735657},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.3287007212638855},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12080064415931702},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.09703800082206726},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.08612927794456482},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.06545969843864441}],"concepts":[{"id":"https://openalex.org/C2781126499","wikidata":"https://www.wikidata.org/wiki/Q16529344","display_name":"Goose","level":2,"score":0.9038271307945251},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7063714265823364},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5789654850959778},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41492918133735657},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.3287007212638855},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12080064415931702},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.09703800082206726},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.08612927794456482},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.06545969843864441}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10611298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/473889","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/473889","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":[{"display_name":"Climate action","score":0.5,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W100401109","https://openalex.org/W2043134517","https://openalex.org/W2115579991","https://openalex.org/W2340897893","https://openalex.org/W2537902178","https://openalex.org/W2561196672","https://openalex.org/W2565233142","https://openalex.org/W2600777408","https://openalex.org/W2765757095","https://openalex.org/W2886934227","https://openalex.org/W2964186846","https://openalex.org/W2991216808","https://openalex.org/W3003922739","https://openalex.org/W3016313340","https://openalex.org/W3035086574","https://openalex.org/W3035574168","https://openalex.org/W3109154950","https://openalex.org/W3120910864","https://openalex.org/W3130281471","https://openalex.org/W3161284304","https://openalex.org/W3177330511","https://openalex.org/W3206164009","https://openalex.org/W4225485763","https://openalex.org/W4283327872","https://openalex.org/W4285102400","https://openalex.org/W4312339847","https://openalex.org/W4312419284","https://openalex.org/W4312688875","https://openalex.org/W4312815172","https://openalex.org/W4323314875","https://openalex.org/W4383108448","https://openalex.org/W6756486208","https://openalex.org/W6810519584"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","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/W3018734923"],"abstract_inverted_index":{"The":[0,66,167],"potential":[1],"for":[2,26,40,62,105,155,171],"deploying":[3],"autonomous":[4,27],"systems":[5,28],"can":[6,177],"be":[7,178],"significantly":[8],"increased":[9],"by":[10],"improving":[11],"the":[12,17,20,50,99,124,136],"perception":[13,137],"and":[14,42,53,75,92,113,130,174],"interpretation":[15],"of":[16,22,73,85,127,139],"environment.":[18],"However,":[19],"development":[21],"deep":[23],"learning-based":[24],"techniques":[25],"in":[29,143,165],"unstructured":[30,63,106,144],"outdoor":[31,64],"environments":[32],"poses":[33],"challenges":[34],"due":[35],"to":[36,81,118,134,152],"limited":[37],"data":[38,154],"availability":[39],"training":[41],"testing.":[43],"To":[44],"address":[45],"this":[46],"gap,":[47],"we":[48],"present":[49],"German":[51],"Outdoor":[52],"Offroad":[54],"Dataset":[55],"(GOOSE),":[56],"a":[57,83,120,131,163],"comprehensive":[58],"dataset":[59,68,111],"specifically":[60],"designed":[61],"environments.":[65,145],"GOOSE":[67],"incorporates":[69],"10000":[70],"labeled":[71],"pairs":[72],"images":[74],"point":[76,93],"clouds,":[77],"which":[78],"are":[79],"utilized":[80],"train":[82],"range":[84],"state-of-the-art":[86],"segmentation":[87],"models":[88,170],"on":[89],"both":[90],"image":[91],"cloud":[94],"data.":[95],"We":[96],"open":[97],"source":[98],"dataset,":[100,168],"along":[101],"with":[102],"an":[103],"ontology":[104],"terrain,":[107],"as":[108,110],"well":[109],"standards":[112],"guidelines.":[114],"This":[115,146],"initiative":[116],"aims":[117],"establish":[119],"common":[121],"framework,":[122],"enabling":[123],"seamless":[125],"inclusion":[126],"existing":[128],"datasets":[129],"fast":[132],"way":[133],"enhance":[135],"capabilities":[138],"various":[140],"robots":[141],"operating":[142],"framework":[147],"also":[148],"makes":[149],"it":[150],"possible":[151],"query":[153],"specific":[156],"weather":[157],"conditions":[158],"or":[159],"sensor":[160],"setups":[161],"from":[162],"database":[164],"future.":[166],"pre-trained":[169],"offroad":[172],"perception,":[173],"additional":[175],"documentation":[176],"found":[179],"at":[180],"https://goose-dataset.de/.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}