{"id":"https://openalex.org/W4416249539","doi":"https://doi.org/10.1109/ijcnn64981.2025.11229344","title":"TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions","display_name":"TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions","publication_year":2025,"publication_date":"2025-06-30","ids":{"openalex":"https://openalex.org/W4416249539","doi":"https://doi.org/10.1109/ijcnn64981.2025.11229344"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn64981.2025.11229344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn64981.2025.11229344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/IJCNN64981.2025.11229344","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026356718","display_name":"Yixin Sun","orcid":"https://orcid.org/0000-0001-6650-4373"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yixin Sun","raw_affiliation_strings":["Durham University,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"Durham University,Department of Computer Science,UK","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107114898","display_name":"Li Li","orcid":"https://orcid.org/0000-0002-9392-7862"},"institutions":[{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Li Li","raw_affiliation_strings":["King’s College,Department of Engineering,London,UK"],"affiliations":[{"raw_affiliation_string":"King’s College,Department of Engineering,London,UK","institution_ids":["https://openalex.org/I4210119896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119516810","display_name":"E Wenke","orcid":null},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wenke E","raw_affiliation_strings":["Durham University,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"Durham University,Department of Computer Science,UK","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013030358","display_name":"Amir Atapour\u2013Abarghouei","orcid":"https://orcid.org/0000-0002-4242-4579"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Amir Atapour-Abarghouei","raw_affiliation_strings":["Durham University,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"Durham University,Department of Computer Science,UK","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045115593","display_name":"Toby P. Breckon","orcid":"https://orcid.org/0000-0003-1666-7590"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Toby P. Breckon","raw_affiliation_strings":["Durham University,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"Durham University,Department of Computer Science,UK","institution_ids":["https://openalex.org/I190082696"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026356718"],"corresponding_institution_ids":["https://openalex.org/I190082696"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.46814985,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7181000113487244,"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":0.7181000113487244,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.11990000307559967,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.08009999990463257,"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/focus","display_name":"Focus (optics)","score":0.5426999926567078},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.4765999913215637},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.44760000705718994},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.43160000443458557},{"id":"https://openalex.org/keywords/variation","display_name":"Variation (astronomy)","score":0.3418999910354614},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.33570000529289246}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7770000100135803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5813000202178955},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5426999926567078},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.4765999913215637},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.44760000705718994},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.43160000443458557},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3930000066757202},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.35190001130104065},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.3418999910354614},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.33570000529289246},{"id":"https://openalex.org/C41458344","wikidata":"https://www.wikidata.org/wiki/Q732577","display_name":"Publication","level":2,"score":0.32260000705718994},{"id":"https://openalex.org/C45804977","wikidata":"https://www.wikidata.org/wiki/Q7239673","display_name":"Predictive modelling","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C2776356880","wikidata":"https://www.wikidata.org/wiki/Q5381206","display_name":"Environmental data","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2630000114440918}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ijcnn64981.2025.11229344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn64981.2025.11229344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"},{"id":"pmh:oai:durham-repository.worktribe.com:3954821","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IJCNN64981.2025.11229344","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"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":null,"raw_type":"acceptedVersion"}],"best_oa_location":{"id":"pmh:oai:durham-repository.worktribe.com:3954821","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IJCNN64981.2025.11229344","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"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":null,"raw_type":"acceptedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1988720110","https://openalex.org/W2024947368","https://openalex.org/W2047180952","https://openalex.org/W2115579991","https://openalex.org/W2118246710","https://openalex.org/W2600777408","https://openalex.org/W2607626645","https://openalex.org/W2765757095","https://openalex.org/W2796162399","https://openalex.org/W2891529090","https://openalex.org/W2932012013","https://openalex.org/W2962850830","https://openalex.org/W2963416674","https://openalex.org/W2964186846","https://openalex.org/W2985459778","https://openalex.org/W3003922739","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3181126643","https://openalex.org/W3206164009","https://openalex.org/W3207814250","https://openalex.org/W4214586682","https://openalex.org/W4281661603","https://openalex.org/W4283327872","https://openalex.org/W4367154333","https://openalex.org/W4391305703","https://openalex.org/W4401414569","https://openalex.org/W4401416866","https://openalex.org/W4402670584"],"related_works":[],"abstract_inverted_index":{"Detecting":[0],"traversable":[1,125],"pathways":[2],"in":[3,15,27,54,128,169,181,208],"unstructured":[4,82],"out-door":[5],"environments":[6,44],"remains":[7],"a":[8,51,74,116,187,205],"significant":[9],"challenge":[10],"for":[11,79,123,190],"autonomous":[12],"robots,":[13],"especially":[14],"critical":[16],"applications":[17],"such":[18,31],"as":[19,24,26,32],"wide-area":[20],"search":[21],"and":[22,37,81,100,143,157,174,195],"rescue,":[23],"well":[25],"incident":[28],"management":[29],"scenarios":[30],"forest":[33],"fires.":[34],"Current":[35],"datasets":[36],"models":[38],"primarily":[39],"focus":[40],"on":[41,146],"either":[42],"urban":[43],"or":[45],"wide":[46],"vehicle-traversable":[47],"off-road":[48,60,193],"tracks,":[49],"leaving":[50],"substantial":[52],"gap":[53],"tackling":[55],"the":[56,68,134,163,175,179],"complexities":[57],"of":[58,136,165,178],"trail-based":[59,192],"scenarios.":[61],"To":[62],"address":[63],"this":[64,209],"issue,":[65],"we":[66,114,196],"introduce":[67],"Trail-based":[69],"Off-road":[70],"Multimodal":[71],"Dataset":[72],"(TOMD),":[73],"comprehensive":[75],"dataset":[76,86,180],"explicitly":[77],"designed":[78],"narrow":[80],"trail-like":[83,129],"environments.":[84],"Our":[85],"features":[87],"high-fidelity":[88],"multimodal":[89],"sensor":[90],"data":[91,120],"\u2014":[92,103,140,145],"including":[93],"128-channel":[94],"LiDAR,":[95],"stereo":[96],"imagery,":[97],"GNSS,":[98],"IMU,":[99],"illumination":[101,151,172],"measurements":[102],"collected":[104],"through":[105],"repeated":[106],"runs":[107],"across":[108,171],"di-verse":[109],"environmental":[110,183],"conditions.":[111,159],"In":[112],"addition,":[113],"propose":[115],"novel":[117],"dynamic":[118],"multiscale":[119],"fusion":[121,138],"model":[122,147],"precise":[124],"pathway":[126],"prediction":[127],"areas.":[130],"The":[131,160],"study":[132],"investigates":[133],"impact":[135],"various":[137],"processes":[139],"early,":[141],"cross,":[142],"mixed":[144],"performance":[148,170],"under":[149],"different":[150],"levels:":[152],"low-light,":[153],"normal":[154],"ambient":[155],"lighting,":[156],"bright":[158],"results":[161],"highlight":[162],"effectiveness":[164],"our":[166,199],"approach,":[167],"variation":[168],"levels,":[173],"potential":[176],"applicability":[177],"diverse":[182],"conditions.Our":[184],"work":[185],"provides":[186],"valuable":[188],"resource":[189],"advancing":[191],"navigation,":[194],"openly":[197],"publish":[198],"TOMD":[200],"at":[201],"https://github.com/yyyxs1125/TMOD":[202],"to":[203],"establish":[204],"future":[206],"bench-mark":[207],"research":[210],"domain.":[211]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-14T00:00:00"}