{"id":"https://openalex.org/W4385231822","doi":"https://doi.org/10.1109/med59994.2023.10185906","title":"Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration","display_name":"Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration","publication_year":2023,"publication_date":"2023-06-26","ids":{"openalex":"https://openalex.org/W4385231822","doi":"https://doi.org/10.1109/med59994.2023.10185906"},"language":"en","primary_location":{"id":"doi:10.1109/med59994.2023.10185906","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/med59994.2023.10185906","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},"type":"preprint","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/A5003596457","display_name":"Alexander Kyuroson","orcid":"https://orcid.org/0009-0007-4859-9955"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Alexander Kyuroson","raw_affiliation_strings":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049008098","display_name":"Niklas Dahlquist","orcid":"https://orcid.org/0000-0003-3498-3765"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Niklas Dahlquist","raw_affiliation_strings":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011625132","display_name":"Nikolaos Stathoulopoulos","orcid":"https://orcid.org/0000-0002-0108-6286"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nikolaos Stathoulopoulos","raw_affiliation_strings":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032971259","display_name":"Vignesh Kottayam Viswanathan","orcid":"https://orcid.org/0000-0002-4383-7316"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Vignesh Kottayam Viswanathan","raw_affiliation_strings":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058420833","display_name":"Anton Koval","orcid":"https://orcid.org/0000-0001-8235-2728"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anton Koval","raw_affiliation_strings":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032260126","display_name":"George Nikolakopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå","institution_ids":["https://openalex.org/I4210131919"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5003596457"],"corresponding_institution_ids":["https://openalex.org/I4210131919"],"apc_list":null,"apc_paid":null,"fwci":4.5328,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.94379463,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"716","last_page":"721"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9907000064849854,"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/computer-science","display_name":"Computer science","score":0.6990955471992493},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.630407452583313},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5964863896369934},{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.5006310939788818},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.49770286679267883},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4717505872249603},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4431689977645874},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43918377161026},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4150269031524658},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4124913215637207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4111979305744171},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.41075628995895386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3553276062011719},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25423097610473633},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14257699251174927},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08806058764457703}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6990955471992493},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.630407452583313},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5964863896369934},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.5006310939788818},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.49770286679267883},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4717505872249603},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4431689977645874},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43918377161026},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4150269031524658},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4124913215637207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4111979305744171},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.41075628995895386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3553276062011719},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25423097610473633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14257699251174927},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08806058764457703},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med59994.2023.10185906","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/med59994.2023.10185906","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W2091790851","https://openalex.org/W2411093439","https://openalex.org/W2507412359","https://openalex.org/W2552263821","https://openalex.org/W2575123907","https://openalex.org/W2901136733","https://openalex.org/W3004359000","https://openalex.org/W3006295588","https://openalex.org/W3016897488","https://openalex.org/W3018353706","https://openalex.org/W3035574168","https://openalex.org/W3036962712","https://openalex.org/W3089445412","https://openalex.org/W3090925395","https://openalex.org/W3108548751","https://openalex.org/W3109995084","https://openalex.org/W3141572377","https://openalex.org/W3145202862","https://openalex.org/W3159400523","https://openalex.org/W3161421216","https://openalex.org/W3190927651","https://openalex.org/W3201923677","https://openalex.org/W3206434649","https://openalex.org/W3206478227","https://openalex.org/W3206598848","https://openalex.org/W4200016827","https://openalex.org/W4214881827","https://openalex.org/W4220907072","https://openalex.org/W4225669925","https://openalex.org/W4226090374","https://openalex.org/W4282828553","https://openalex.org/W4285158560","https://openalex.org/W4287262265","https://openalex.org/W4312711505","https://openalex.org/W4312797920","https://openalex.org/W4317598226","https://openalex.org/W6756486208","https://openalex.org/W6773427146","https://openalex.org/W6776141803","https://openalex.org/W6792068349","https://openalex.org/W6802659048","https://openalex.org/W6803478848","https://openalex.org/W6839478187"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4221065211"],"abstract_inverted_index":{"Algorithms":[0],"for":[1],"autonomous":[2],"navigation":[3],"in":[4,38,138,153],"environments":[5],"without":[6],"Global":[7],"Navigation":[8],"Satellite":[9],"System":[10,141],"(GNSS)":[11],"coverage":[12],"mainly":[13],"rely":[14],"on":[15,187],"onboard":[16,107,136,201],"perception":[17],"systems.":[18],"These":[19],"systems":[20],"commonly":[21],"incorporate":[22],"sensors":[23,55,108,137],"like":[24],"cameras":[25],"and":[26,29,61,78,95,109,150,174],"Light":[27],"Detection":[28,60],"Rangings":[30,62],"(LiDARs),":[31],"the":[32,39,74,93,106,110,113,127,146,159,162,182,193],"performance":[33,75],"of":[34,41,49,76,105,123,148,164,184,198],"which":[35,64],"may":[36],"degrade":[37],"presence":[40],"aerosol":[42,100],"particles.":[43,69,101],"Thus,":[44],"there":[45],"is":[46,115,167,203],"a":[47,89,195],"need":[48],"fusing":[50],"acquired":[51,124],"data":[52,57,132,176],"from":[53,58,92,134,200],"these":[54],"with":[56,99],"Radio":[59],"(RADARs)":[63],"can":[65],"penetrate":[66],"through":[67],"such":[68,83,154],"Overall,":[70],"this":[71,165],"will":[72],"improve":[73],"localization":[77,151],"collision":[79],"avoidance":[80],"algorithms":[81,152],"under":[82],"environmental":[84],"conditions.":[85],"This":[86],"paper":[87,166],"introduces":[88],"multimodal":[90],"dataset":[91,114,128],"harsh":[94,185],"unstructured":[96],"underground":[97],"environment":[98],"A":[102],"detailed":[103],"description":[104],"environment,":[111],"where":[112],"collected":[116],"are":[117],"presented":[118],"to":[119,144,158,170,180,191],"enable":[120],"full":[121],"evaluation":[122,147],"data.":[125,189],"Furthermore,":[126],"contains":[129],"synchronized":[130],"raw":[131],"measurements":[133],"all":[135],"Robot":[139],"Operating":[140],"(ROS)":[142],"format":[143],"facilitate":[145],"navigation,":[149],"environments.":[155],"In":[156],"contrast":[157],"existing":[160],"datasets,":[161],"focus":[163],"not":[168],"only":[169],"capture":[171],"both":[172],"temporal":[173],"spatial":[175],"diversities":[177],"but":[178],"also":[179],"present":[181],"impact":[183],"conditions":[186],"captured":[188],"Therefore,":[190],"validate":[192],"dataset,":[194],"preliminary":[196],"comparison":[197],"odometry":[199],"LiDARs":[202],"presented.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}