{"id":"https://openalex.org/W6963547092","doi":"https://doi.org/10.21227/fq66-4973","title":"AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping","display_name":"AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping","publication_year":2020,"publication_date":"2020-09-10","ids":{"openalex":"https://openalex.org/W6963547092","doi":"https://doi.org/10.21227/fq66-4973"},"language":"en","primary_location":{"id":"doi:10.21227/fq66-4973","is_oa":true,"landing_page_url":"https://doi.org/10.21227/fq66-4973","pdf_url":null,"source":{"id":"https://openalex.org/S7407051695","display_name":"IEEE DataPort","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Dataset"},"type":"dataset","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.21227/fq66-4973","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Dubois, Rodolphe","orcid":null},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Dubois, Rodolphe","raw_affiliation_strings":["DTIS, ONERA, F-91123 Palaiseau, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DTIS, ONERA, F-91123 Palaiseau, France","institution_ids":["https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Eudes, Alexandre","orcid":null},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Eudes, Alexandre","raw_affiliation_strings":["DTIS, ONERA, F-91123 Palaiseau, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DTIS, ONERA, F-91123 Palaiseau, France","institution_ids":["https://openalex.org/I2801658355"]}]},{"author_position":"last","author":{"id":null,"display_name":"Fr\u00e9mont, Vincent","orcid":null},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fr\u00e9mont, Vincent","raw_affiliation_strings":["Centrale Nantes, LS2N, UMR 6004, Nantes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centrale Nantes, LS2N, UMR 6004, Nantes, France","institution_ids":["https://openalex.org/I4210117005","https://openalex.org/I100445878"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":null,"topics":[],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7073000073432922},{"id":"https://openalex.org/keywords/beacon","display_name":"Beacon","score":0.6881999969482422},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6230999827384949},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6190000176429749},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4510999917984009},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.3172000050544739},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29840001463890076}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7073000073432922},{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.6881999969482422},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6535000205039978},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6230999827384949},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6190000176429749},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6175000071525574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6019999980926514},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4510999917984009},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29840001463890076},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.289900004863739},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.263700008392334},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26179999113082886},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.26159998774528503},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2581000030040741},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.21227/fq66-4973","is_oa":true,"landing_page_url":"https://doi.org/10.21227/fq66-4973","pdf_url":null,"source":{"id":"https://openalex.org/S7407051695","display_name":"IEEE DataPort","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Dataset"}],"best_oa_location":{"id":"doi:10.21227/fq66-4973","is_oa":true,"landing_page_url":"https://doi.org/10.21227/fq66-4973","pdf_url":null,"source":{"id":"https://openalex.org/S7407051695","display_name":"IEEE DataPort","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Dataset"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.44747060537338257,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"AirMuseum":[1],"dataset":[2],"is":[3],"intended":[4],"for":[5,83],"multi-robot":[6,20],"stereo-visual":[7],"and":[8,25,46,63,91],"inertial":[9,64],"Simultaneous":[10],"Localization":[11],"And":[12],"Mapping":[13],"(SLAM).":[14],"It":[15],"consists":[16],"in":[17,28],"five":[18],"indoor":[19],"scenarios":[21,38],"acquired":[22],"with":[23,60,93],"ground":[24],"aerial":[26],"robots":[27,59,73],"a":[29],"former":[30],"Air":[31],"Museum":[32],"at":[33],"ONERA":[34],"Meudon,":[35],"France.":[36],"Those":[37],"were":[39,86],"designed":[40],"to":[41,49],"exhibit":[42,68],"some":[43],"specific":[44],"opportunities":[45],"challenges":[47],"associated":[48],"collaborative":[50],"SLAM.":[51],"Each":[52],"scenario":[53],"includes":[54],"synchronized":[55],"sequences":[56],"between":[57,72],"multiple":[58],"stereo":[61],"images":[62],"measurements.":[65],"They":[66],"also":[67],"explicit":[69],"direct":[70],"interactions":[71],"through":[74],"the":[75,94,104],"detection":[76,95],"of":[77,96],"mounted":[78],"AprilTag":[79,98],"markers.":[80],"Ground-truth":[81],"trajectories":[82],"each":[84],"robot":[85],"computed":[87],"using":[88],"Structure-from-Motion":[89],"algorithms":[90],"constrained":[92],"fixed":[97],"markers":[99],"placed":[100],"as":[101],"beacons":[102],"on":[103],"experimental":[105],"area.":[106]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}