{"id":"https://openalex.org/W4312950324","doi":"https://doi.org/10.1109/iros47612.2022.9981865","title":"OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum","display_name":"OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312950324","doi":"https://doi.org/10.1109/iros47612.2022.9981865"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981865","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/a40b2ef8-b3e3-46bc-80e1-6402f519b807","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025998152","display_name":"Peize Li","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Peize Li","raw_affiliation_strings":["School of Informatics, University of Edinburgh,United Kingdom","School of Informatics, University of Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh,United Kingdom","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049396482","display_name":"Kaiwen Cai","orcid":"https://orcid.org/0000-0001-7988-837X"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaiwen Cai","raw_affiliation_strings":["University of Liverpool,United Kingdom","University of Liverpool, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Liverpool,United Kingdom","institution_ids":["https://openalex.org/I146655781"]},{"raw_affiliation_string":"University of Liverpool, United Kingdom","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030156598","display_name":"Muhamad Risqi U. Saputra","orcid":"https://orcid.org/0000-0001-6067-630X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Muhamad Risqi U. Saputra","raw_affiliation_strings":["Monash University,Indonesia","Monash University, Indonesia"],"affiliations":[{"raw_affiliation_string":"Monash University,Indonesia","institution_ids":[]},{"raw_affiliation_string":"Monash University, Indonesia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010005673","display_name":"Zhuangzhuang Dai","orcid":"https://orcid.org/0000-0002-6098-115X"},"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":"Zhuangzhuang Dai","raw_affiliation_strings":["University of Oxford,United Kingdom","University of Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,United Kingdom","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"University of Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030505775","display_name":"Chris Xiaoxuan Lu","orcid":"https://orcid.org/0000-0002-3733-4480"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chris Xiaoxuan Lu","raw_affiliation_strings":["School of Informatics, University of Edinburgh,United Kingdom","School of Informatics, University of Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh,United Kingdom","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025998152"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":3.6107,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.95829926,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3845","last_page":"3850"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9936000108718872,"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/odometry","display_name":"Odometry","score":0.9005306363105774},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7660725116729736},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6517614722251892},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5723252892494202},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5594754815101624},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5227975249290466},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48781612515449524},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4324137568473816},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25713446736335754},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14520376920700073},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1192055344581604},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11358606815338135}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9005306363105774},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7660725116729736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6517614722251892},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5723252892494202},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5594754815101624},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5227975249290466},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48781612515449524},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4324137568473816},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25713446736335754},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14520376920700073},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1192055344581604},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11358606815338135}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981865","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/a40b2ef8-b3e3-46bc-80e1-6402f519b807","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/a40b2ef8-b3e3-46bc-80e1-6402f519b807","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/a40b2ef8-b3e3-46bc-80e1-6402f519b807","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/a40b2ef8-b3e3-46bc-80e1-6402f519b807","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4253207184","display_name":null,"funder_award_id":"EP/S030832/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8632079472","display_name":"ACE-OPS: From Autonomy to Cognitive assistance in Emergency OPerationS","funder_award_id":"EP/S030832/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1970512235","https://openalex.org/W1990398405","https://openalex.org/W2021851106","https://openalex.org/W2115579991","https://openalex.org/W2119851068","https://openalex.org/W2150066425","https://openalex.org/W2202251471","https://openalex.org/W2296228853","https://openalex.org/W2396274919","https://openalex.org/W2418849765","https://openalex.org/W2745859992","https://openalex.org/W2789621390","https://openalex.org/W2797395780","https://openalex.org/W2883923125","https://openalex.org/W2952348863","https://openalex.org/W3001696250","https://openalex.org/W3035574168","https://openalex.org/W3039585773","https://openalex.org/W3043971245","https://openalex.org/W3089445412","https://openalex.org/W3090139470","https://openalex.org/W3091337047","https://openalex.org/W3098486636","https://openalex.org/W3109995084","https://openalex.org/W3129245057","https://openalex.org/W3135933983","https://openalex.org/W3186729138","https://openalex.org/W4214881827","https://openalex.org/W4226007707","https://openalex.org/W6780218453"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W2351984678","https://openalex.org/W3125052734","https://openalex.org/W4313854656","https://openalex.org/W2140032575","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"multimodal":[4,71],"indoor":[5,80],"odometry":[6,72,94],"dataset,":[7],"OdomBeyondVision,":[8],"featuring":[9],"multiple":[10],"sensors":[11,31,44,60],"across":[12],"the":[13,27,47,58,70,88],"different":[14,19,83],"spectrum":[15],"and":[16,54,64,74,82,92,106,114],"collected":[17],"with":[18],"mobile":[20],"platforms.":[21],"Not":[22],"only":[23],"does":[24],"OdomBeyondVision":[25],"contain":[26],"traditional":[28],"navigation":[29],"sensors,":[30],"such":[32,45],"as":[33,46],"IMUs,":[34],"mechanical":[35],"LiDAR,":[36],"RGBD":[37],"camera,":[38],"it":[39],"also":[40],"includes":[41],"several":[42],"emerging":[43],"single-chip":[48],"mmWave":[49],"radar,":[50,90],"LWIR":[51],"thermal":[52],"camera":[53],"solid-state":[55],"LiDAR.":[56],"With":[57],"above":[59],"on":[61],"UAV,":[62],"UGV":[63],"handheld":[65],"platforms,":[66],"we":[67],"respectively":[68],"recorded":[69],"data":[73],"their":[75,98],"movement":[76],"trajectories":[77],"in":[78],"various":[79],"scenes":[81],"illumination":[84],"conditions.":[85],"We":[86],"release":[87],"exemplar":[89],"radar-inertial":[91],"thermal-inertial":[93],"implementations":[95],"to":[96,103],"demonstrate":[97],"results":[99],"for":[100],"future":[101],"works":[102],"compare":[104],"against":[105],"improve":[107],"upon.":[108],"The":[109],"full":[110],"dataset":[111],"including":[112],"toolkit":[113],"documentation":[115],"is":[116],"publicly":[117],"available":[118],"at:":[119],"https://github.com/MAPS-Lab/OdomBeyondVision.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
