{"id":"https://openalex.org/W4399167850","doi":"https://doi.org/10.1109/lra.2024.3407411","title":"TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments","display_name":"TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments","publication_year":2024,"publication_date":"2024-05-30","ids":{"openalex":"https://openalex.org/W4399167850","doi":"https://doi.org/10.1109/lra.2024.3407411"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3407411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3407411","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5106716541","display_name":"Yao Chen","orcid":"https://orcid.org/0000-0002-9875-2192"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chen Yao","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9875-2192","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030953171","display_name":"Yangtao Ge","orcid":"https://orcid.org/0009-0008-2865-7799"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangtao Ge","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0008-2865-7799","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060331235","display_name":"Guowei Shi","orcid":"https://orcid.org/0009-0006-4151-9425"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guowei Shi","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0006-4151-9425","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100687850","display_name":"Zirui Wang","orcid":"https://orcid.org/0009-0002-6520-7478"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zirui Wang","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0002-6520-7478","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083830939","display_name":"Ningbo Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ningbo Yang","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0000-8249-8954","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106484401","display_name":"Zheng Zhu","orcid":"https://orcid.org/0000-0001-9037-7984"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhu","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-9037-7984","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019923673","display_name":"Hexiang Wei","orcid":"https://orcid.org/0000-0002-8025-278X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hexiang Wei","raw_affiliation_strings":["Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-8025-278X","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101093253","display_name":"Yuntian Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuntian Zhao","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0007-7704-4158","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025627510","display_name":"Jing Wu","orcid":"https://orcid.org/0000-0003-4444-3797"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Wu","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-4444-3797","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075727192","display_name":"Zhenzhong Jia","orcid":"https://orcid.org/0000-0001-5924-5502"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Jia","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-5924-5502","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech), Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5106716541"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":6.0873,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.95778574,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"7","first_page":"6696","last_page":"6703"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant 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"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant 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"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9652000069618225,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9645000100135803,"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/modal","display_name":"Modal","score":0.680438756942749},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6576571464538574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6003064513206482},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5745413899421692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48901447653770447},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45265454053878784},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18879997730255127},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.07644098997116089},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.06486785411834717}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.680438756942749},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6576571464538574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6003064513206482},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5745413899421692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48901447653770447},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45265454053878784},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18879997730255127},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.07644098997116089},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.06486785411834717},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3407411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3407411","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-138960","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-138960","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2781048633","display_name":null,"funder_award_id":"U1913603","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2006548260","https://openalex.org/W2059391268","https://openalex.org/W2115579991","https://openalex.org/W2296228853","https://openalex.org/W2396274919","https://openalex.org/W2535547924","https://openalex.org/W2567239141","https://openalex.org/W2773327434","https://openalex.org/W2963311282","https://openalex.org/W3089445412","https://openalex.org/W3102327032","https://openalex.org/W3122190729","https://openalex.org/W3136907960","https://openalex.org/W3159400523","https://openalex.org/W3174748154","https://openalex.org/W3196889539","https://openalex.org/W3206845495","https://openalex.org/W3214208961","https://openalex.org/W4210423514","https://openalex.org/W4281682914","https://openalex.org/W4283823181","https://openalex.org/W4285512293","https://openalex.org/W4312265650","https://openalex.org/W4312492713","https://openalex.org/W4312567638","https://openalex.org/W4317383374","https://openalex.org/W4383108448","https://openalex.org/W4386159174","https://openalex.org/W4387129506","https://openalex.org/W4387587632","https://openalex.org/W4391249138","https://openalex.org/W4391305576","https://openalex.org/W4394659040","https://openalex.org/W6838984008","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068"],"abstract_inverted_index":{"Terrain-aware":[0],"perception":[1,28],"holds":[2],"the":[3,7,16,24,34,79,135],"potential":[4],"to":[5,62,128],"improve":[6],"robustness":[8],"and":[9,64,74,82,106,115,120,145,158,164],"accuracy":[10],"of":[11,26,36,71,84,137],"autonomous":[12],"robot":[13,147],"navigation":[14],"in":[15,47],"wilds,":[17],"thereby":[18],"facilitating":[19],"effective":[20],"off-road":[21],"traversals.":[22],"However,":[23],"lack":[25],"multi-modal":[27],"across":[29],"various":[30,69],"motion":[31],"patterns":[32],"hinders":[33],"solutions":[35],"Simultaneous":[37],"Localization":[38],"And":[39],"Mapping":[40],"(SLAM),":[41],"especially":[42],"when":[43],"confronting":[44],"non-geometric":[45],"hazards":[46],"demanding":[48],"landscapes.":[49],"In":[50],"this":[51],"paper,":[52],"we":[53,123],"first":[54],"propose":[55],"a":[56,100],"Terrain-Aware":[57],"multI-modaL":[58],"(TAIL)":[59],"dataset":[60],"tailored":[61],"deformable":[63],"sandy":[65],"terrains.":[66],"It":[67,133],"incorporates":[68],"types":[70],"robotic":[72],"proprioception":[73],"distinct":[75],"ground":[76,156],"interactions":[77],"for":[78],"unique":[80],"challenges":[81,163],"benchmark":[83,150],"multi-sensor":[85],"fusion":[86],"SLAM.":[87],"The":[88],"versatile":[89],"sensor":[90],"suite":[91],"comprises":[92],"stereo":[93],"frame":[94],"cameras,":[95,99],"multiple":[96],"ground-pointing":[97],"RGB-D":[98],"rotating":[101],"3D":[102],"LiDAR,":[103],"an":[104,107],"IMU,":[105],"RTK":[108],"device.":[109],"This":[110],"ensemble":[111],"is":[112],"hardware-synchronized,":[113],"well-calibrated,":[114],"self-contained.":[116],"Utilizing":[117],"both":[118],"wheeled":[119],"quadrupedal":[121],"locomotion,":[122],"efficiently":[124],"collect":[125],"comprehensive":[126],"sequences":[127],"capture":[129],"rich":[130],"unstructured":[131],"scenarios.":[132],"spans":[134],"spectrum":[136],"scope,":[138],"terrain":[139],"interactions,":[140],"scene":[141],"changes,":[142],"ground-level":[143],"properties,":[144],"dynamic":[146],"characteristics.":[148],"We":[149],"several":[151],"state-of-the-art":[152],"SLAM":[153],"methods":[154],"against":[155],"truth":[157],"provide":[159],"performance":[160],"validations.":[161],"Corresponding":[162],"limitations":[165],"are":[166,172],"also":[167],"reported.":[168],"All":[169],"associated":[170],"resources":[171],"accessible":[173],"upon":[174],"request":[175],"at":[176],"<uri":[177],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[178],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://tailrobot.github.io/</uri>":[179],".":[180]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8}],"updated_date":"2026-05-10T08:33:47.465468","created_date":"2025-10-10T00:00:00"}