{"id":"https://openalex.org/W4417438701","doi":"https://doi.org/10.1109/lra.2025.3645651","title":"Toward Degradation-Robust High-Precision Mapping: A Large-Scale LiDAR\u2013Inertial Dataset","display_name":"Toward Degradation-Robust High-Precision Mapping: A Large-Scale LiDAR\u2013Inertial Dataset","publication_year":2025,"publication_date":"2025-12-17","ids":{"openalex":"https://openalex.org/W4417438701","doi":"https://doi.org/10.1109/lra.2025.3645651"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3645651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3645651","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":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11311/1302787","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113572773","display_name":"Xiaofeng Jin","orcid":"https://orcid.org/0009-0006-3659-499X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Xiaofeng Jin","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":"https://orcid.org/0009-0006-3659-499X","affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080306994","display_name":"Ningbo Bu","orcid":"https://orcid.org/0000-0003-3171-9715"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ningbo Bu","raw_affiliation_strings":["Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0003-3171-9715","affiliations":[{"raw_affiliation_string":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077889312","display_name":"J. Ge","orcid":"https://orcid.org/0000-0001-6004-4310"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfei Ge","raw_affiliation_strings":["Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-6004-4310","affiliations":[{"raw_affiliation_string":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100374849","display_name":"Shijie Wang","orcid":"https://orcid.org/0009-0007-8955-6732"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijie Wang","raw_affiliation_strings":["Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101226260","display_name":"Jiangjian Xiao","orcid":"https://orcid.org/0000-0003-1868-4001"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangjian Xiao","raw_affiliation_strings":["Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0003-1868-4001","affiliations":[{"raw_affiliation_string":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003932703","display_name":"Matteo Matteucci","orcid":"https://orcid.org/0000-0002-8306-6739"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Matteucci","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8306-6739","affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113572773"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4760477,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1946","last_page":"1953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6818000078201294,"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":0.6818000078201294,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.23639999330043793,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.06040000170469284,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7149999737739563},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5504000186920166},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5408999919891357},{"id":"https://openalex.org/keywords/photogrammetry","display_name":"Photogrammetry","score":0.49140000343322754},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.45680001378059387},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4510999917984009},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.4438000023365021},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4368000030517578},{"id":"https://openalex.org/keywords/georeference","display_name":"Georeference","score":0.43050000071525574}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7149999737739563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7046999931335449},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5504000186920166},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5408999919891357},{"id":"https://openalex.org/C117455697","wikidata":"https://www.wikidata.org/wiki/Q190149","display_name":"Photogrammetry","level":2,"score":0.49140000343322754},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.48080000281333923},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.45680001378059387},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4510999917984009},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.4438000023365021},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4368000030517578},{"id":"https://openalex.org/C75145180","wikidata":"https://www.wikidata.org/wiki/Q772007","display_name":"Georeference","level":2,"score":0.43050000071525574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42829999327659607},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.42100000381469727},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4108000099658966},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3637000024318695},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3278999924659729},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.32679998874664307},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3255000114440918},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.3052999973297119},{"id":"https://openalex.org/C163985040","wikidata":"https://www.wikidata.org/wiki/Q1172399","display_name":"Data acquisition","level":2,"score":0.29829999804496765},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.29760000109672546},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C53605480","wikidata":"https://www.wikidata.org/wiki/Q852595","display_name":"Geotagging","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C2987819851","wikidata":"https://www.wikidata.org/wiki/Q191839","display_name":"Aerial imagery","level":2,"score":0.2590000033378601}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3645651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3645651","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:re.public.polimi.it:11311/1302787","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1302787","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:re.public.polimi.it:11311/1302787","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1302787","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8243986904","display_name":null,"funder_award_id":"U24A20249","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"LiDAR-Inertial":[0],"Odometry":[1],"(LIO)":[2],"has":[3,142],"demonstrated":[4],"robust":[5],"real-time":[6],"capability":[7],"and":[8,50,107,117,132,149,204,230,241],"efficient":[9],"mapping":[10,248],"performance":[11],"compared":[12],"to":[13,59,85,135,199,205,245],"traditional":[14],"terrestrial":[15],"laser":[16],"scanners.":[17],"Although":[18],"recent":[19],"advances":[20,219],"driven":[21],"by":[22],"public":[23,161],"datasets":[24],"have":[25],"improved":[26],"LIO":[27,72,239],"stability":[28],"under":[29],"certain":[30],"degraded":[31],"conditions,":[32],"existing":[33],"studies":[34],"still":[35],"lack":[36],"systematic":[37],"validation":[38],"in":[39,75,225],"real-world":[40,78],"scenarios.":[41,249],"Key":[42],"challenges":[43],"include":[44],"long-duration":[45],"sequences,":[46],"combined":[47],"degradation":[48],"factors,":[49],"seamless":[51,137],"indoor-outdoor":[52,138],"transitions.":[53],"This":[54,217],"gap":[55],"limits":[56],"their":[57,243],"applicability":[58],"general-purpose,":[60],"high-precision":[61,71,247],"mapping.":[62,139],"To":[63],"bridge":[64],"this":[65],"gap,":[66],"we":[67,186],"present":[68],"a":[69,93,123,167,191,234],"large-scale,":[70],"dataset":[73,89,121,218,236],"collected":[74,91],"four":[76],"diverse":[77],"environments,":[79,126],"covering":[80],"areas":[81],"ranging":[82],"from":[83,258],"60,000":[84],"750,000":[86],"m2.":[87],"The":[88,120],"was":[90],"with":[92,98,176,183],"custom":[94],"backpack-mounted":[95],"platform":[96],"equipped":[97],"two":[99],"multi-beam":[100],"rotating":[101],"LiDAR":[102,202],"sensors,":[103],"an":[104,143],"industrial-grade":[105],"IMU,":[106],"RTK-GNSS":[108,177],"modules,":[109],"achieving":[110],"precise":[111],"spatiotemporal":[112],"alignment":[113],"via":[114],"hardware-level":[115],"synchronization":[116],"rigorous":[118],"calibration.":[119],"encompasses":[122],"variety":[124],"of":[125,146,159,213,222],"including":[127],"structured":[128],"buildings,":[129],"tunnels,":[130],"slopes,":[131],"urban":[133],"scenes,":[134],"support":[136],"Each":[140],"sequence":[141],"average":[144],"length":[145],"1,500":[147],"m":[148],"comprises":[150],"over":[151],"15,000":[152],"frames":[153],"per":[154],"sequence,":[155],"exceeding":[156],"the":[157,201,207,214,220,223,252,259],"scale":[158],"most":[160],"LiDAR-IMU":[162],"datasets.":[163],"We":[164,250],"also":[165],"propose":[166],"6-DoF":[168],"ground-truth":[169,231],"generation":[170],"pipeline":[171],"that":[172],"fuses":[173],"SLAM-based":[174],"optimization":[175],"anchoring.":[178],"Using":[179],"oblique":[180],"photogrammetry":[181],"integrated":[182],"RTKGNSS":[184],"measurements,":[185],"obtain":[187],"georeferenced":[188],"maps":[189,195],"at":[190],"realworld":[192],"scale.":[193],"These":[194],"are":[196],"then":[197],"used":[198],"align":[200],"reconstructions":[203],"validate":[206],"centimeter-level":[208],"accuracy":[209],"(<":[210],"3":[211],"cm)":[212],"generated":[215],"trajectories.":[216],"state":[221],"art":[224],"trajectory":[226],"length,":[227],"scene":[228],"complexity,":[229],"precision,":[232],"providing":[233],"comprehensive":[235],"for":[237],"evaluating":[238],"systems":[240],"improving":[242],"generalization":[244],"practical":[246],"release":[251],"dataset,":[253],"which":[254],"can":[255],"be":[256],"obtained":[257],"following":[260],"link:":[261],"https:":[262],"//github.com/CNITECH-CV-LAB/Backpack2025":[263]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-12-17T00:00:00"}