{"id":"https://openalex.org/W4385324661","doi":"https://doi.org/10.1109/iv55152.2023.10186693","title":"LUCOOP: Leibniz University Cooperative Perception and Urban Navigation Dataset","display_name":"LUCOOP: Leibniz University Cooperative Perception and Urban Navigation Dataset","publication_year":2023,"publication_date":"2023-06-04","ids":{"openalex":"https://openalex.org/W4385324661","doi":"https://doi.org/10.1109/iv55152.2023.10186693"},"language":"en","primary_location":{"id":"doi:10.1109/iv55152.2023.10186693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186693","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","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/A5024011099","display_name":"Jeldrik Axmann","orcid":"https://orcid.org/0000-0001-6761-4638"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jeldrik Axmann","raw_affiliation_strings":["Leibniz University Hannover,Inst. of Cartography and Geoinf.,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Inst. of Cartography and Geoinf.,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079455543","display_name":"Rozhin Moftizadeh","orcid":"https://orcid.org/0000-0002-0576-3280"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rozhin Moftizadeh","raw_affiliation_strings":["Leibniz University Hannover,Geodetic Institute,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Geodetic Institute,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082738201","display_name":"Jingyao Su","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jingyao Su","raw_affiliation_strings":["Leibniz University Hannover,Institut f&#x00FC;r Erdmessung,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Institut f&#x00FC;r Erdmessung,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021702587","display_name":"Benjamin Tennstedt","orcid":"https://orcid.org/0000-0003-4362-0667"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Tennstedt","raw_affiliation_strings":["Leibniz University Hannover,Institut f&#x00FC;r Erdmessung,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Institut f&#x00FC;r Erdmessung,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039501310","display_name":"Qianqian Zou","orcid":"https://orcid.org/0000-0003-1549-4341"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Qianqian Zou","raw_affiliation_strings":["Leibniz University Hannover,Inst. of Cartography and Geoinf.,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Inst. of Cartography and Geoinf.,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086761101","display_name":"Yunshuang Yuan","orcid":"https://orcid.org/0000-0001-5511-9082"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yunshuang Yuan","raw_affiliation_strings":["Leibniz University Hannover,Inst. of Cartography and Geoinf.,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Inst. of Cartography and Geoinf.,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023291096","display_name":"Dominik Ernst","orcid":"https://orcid.org/0000-0001-9826-5610"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Ernst","raw_affiliation_strings":["Leibniz University Hannover,Geodetic Institute,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Geodetic Institute,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063876414","display_name":"Hamza Alkhatib","orcid":"https://orcid.org/0000-0002-4480-1067"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hamza Alkhatib","raw_affiliation_strings":["Leibniz University Hannover,Geodetic Institute,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Geodetic Institute,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016827109","display_name":"Claus Brenner","orcid":"https://orcid.org/0000-0002-6459-0682"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Claus Brenner","raw_affiliation_strings":["Leibniz University Hannover,Inst. of Cartography and Geoinf.,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Inst. of Cartography and Geoinf.,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091144096","display_name":"Steffen Sch\u00f6n","orcid":"https://orcid.org/0000-0002-5042-6742"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Sch\u00f6n","raw_affiliation_strings":["Leibniz University Hannover,Institut f&#x00FC;r Erdmessung,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Institut f&#x00FC;r Erdmessung,Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5024011099"],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":3.5265,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.92571106,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T13282","display_name":"Automated Road and Building Extraction","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.996999979019165,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9939000010490417,"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/perception","display_name":"Perception","score":0.7427811622619629},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5666677951812744},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46375468373298645},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34632408618927},{"id":"https://openalex.org/keywords/epistemology","display_name":"Epistemology","score":0.1394093930721283},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.10369804501533508}],"concepts":[{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.7427811622619629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5666677951812744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46375468373298645},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34632408618927},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.1394093930721283},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.10369804501533508}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55152.2023.10186693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186693","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W37292689","https://openalex.org/W2115579991","https://openalex.org/W2340897893","https://openalex.org/W2527622645","https://openalex.org/W2566918566","https://openalex.org/W2750669109","https://openalex.org/W2884693429","https://openalex.org/W2910209950","https://openalex.org/W2963292632","https://openalex.org/W2967740791","https://openalex.org/W2982681137","https://openalex.org/W2991216808","https://openalex.org/W3011788244","https://openalex.org/W3012972951","https://openalex.org/W3016404858","https://openalex.org/W3022010483","https://openalex.org/W3034543232","https://openalex.org/W3035172746","https://openalex.org/W3035369032","https://openalex.org/W3035564946","https://openalex.org/W3035574168","https://openalex.org/W3089389996","https://openalex.org/W3089903748","https://openalex.org/W3103261045","https://openalex.org/W3116592636","https://openalex.org/W3130417897","https://openalex.org/W3176465513","https://openalex.org/W3201193904","https://openalex.org/W3204792207","https://openalex.org/W3205114100","https://openalex.org/W3209102426","https://openalex.org/W3216505246","https://openalex.org/W4295719664","https://openalex.org/W4312939270","https://openalex.org/W4313327241","https://openalex.org/W6745935785","https://openalex.org/W6775594401","https://openalex.org/W6776142756","https://openalex.org/W6802207288","https://openalex.org/W6804025611","https://openalex.org/W6987213386"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"Recently":[0],"published":[1],"datasets":[2,25,45],"have":[3],"been":[4],"increasingly":[5],"comprehensive":[6],"with":[7,107,250],"respect":[8],"to":[9,65,90,123],"their":[10],"variety":[11],"of":[12,41,94,153,195,210,219,243,270],"simultaneously":[13,182],"used":[14],"sensors,":[15],"traffic":[16],"scenarios,":[17],"environmental":[18],"conditions,":[19],"and":[20,121,146,215,238,275,278],"provided":[21],"annotations.":[22],"However,":[23],"these":[24],"typically":[26],"only":[27],"consider":[28],"data":[29,79,253],"collected":[30,80],"by":[31,69,81,158,183],"one":[32,115,118],"independent":[33],"vehicle.":[34],"Hence,":[35],"there":[36],"is":[37],"currently":[38],"a":[39,91,108,151,159,164,174,184,204,208,216,255,268],"lack":[40],"comprehensive,":[42],"real-world,":[43],"multi-vehicle":[44,205],"fostering":[46],"research":[47],"on":[48,132],"cooperative":[49],"applications":[50],"such":[51],"as":[52,135,137,188,190,295,297],"object":[53,292],"detection,":[54],"urban":[55],"navigation,":[56],"or":[57],"multi-agent":[58],"SLAM.":[59],"In":[60],"this":[61,67],"paper,":[62],"we":[63,259,284],"aim":[64],"fill":[66],"gap":[68],"introducing":[70],"the":[71,141,154,196,307],"novel":[72],"LUCOOP":[73,170],"dataset,":[74],"which":[75],"provides":[76],"time-synchronized":[77],"multi-modal":[78],"three":[82,124],"interacting":[83],"measurement":[84,197,308],"vehicles.":[85],"The":[86,169],"driving":[87],"scenario":[88],"corresponds":[89],"follow-up":[92],"setup":[93,206],"multiple":[95],"rounds":[96],"in":[97,163,203],"an":[98,191],"inner":[99],"city":[100,193],"triangular":[101],"trajectory.":[102,168],"Each":[103],"vehicle":[104,305],"was":[105,156],"equipped":[106],"broad":[109],"sensor":[110,201],"suite":[111],"including":[112],"at":[113],"least":[114],"LiDAR":[116,232],"sensor,":[117],"GNSS":[119,246],"antenna,":[120],"up":[122],"IMUs.":[125],"Additionally,":[126,283],"Ultra-Wide-Band":[127],"(UWB)":[128],"sensors":[129],"were":[130],"mounted":[131],"each":[133,304],"vehicle,":[134],"well":[136,189,296],"statically":[138],"placed":[139],"along":[140,249],"trajectory":[142,155,209,269],"enabling":[143],"both":[144],"V2V":[145,277],"V2X":[147,280],"range":[148],"measurements.":[149,282],"Furthermore,":[150,258],"part":[152],"monitored":[157],"total":[160,264],"station":[161,265],"resulting":[162],"highly":[165,298],"accurate":[166,299],"reference":[167,256],"dataset":[171,227],"also":[172],"includes":[173,228],"precise,":[175],"dense":[176],"3D":[177,286],"map":[178],"point":[179],"cloud,":[180],"acquired":[181],"mobile":[185],"mapping":[186],"system,":[187],"LOD2":[192],"model":[194],"area.":[198],"We":[199],"provide":[200,260],"measurements":[202,248,266],"for":[207,290,303],"more":[211,220,229,239,261,271],"than":[212,221,230,240,262,272],"4":[213],"km":[214,274],"time":[217],"interval":[218],"26":[222],"minutes,":[223],"respectively.":[224],"Overall,":[225],"our":[226],"54,000":[231],"frames,":[233],"approximately":[234],"700,000":[235],"IMU":[236],"measurements,":[237],"2.5":[241],"hours":[242],"10":[244],"Hz":[245,252],"raw":[247],"1":[251,273],"from":[254],"station.":[257],"6,000":[263],"over":[267],"1,874":[276],"267":[279],"UWB":[281],"offer":[285],"bounding":[287],"box":[288],"annotations":[289],"evaluating":[291],"detection":[293],"approaches,":[294],"ground":[300],"truth":[301],"poses":[302],"throughout":[306],"campaign.":[309]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5}],"updated_date":"2026-06-02T09:04:35.204637","created_date":"2025-10-10T00:00:00"}
