{"id":"https://openalex.org/W4390051663","doi":"https://doi.org/10.1177/02783649231222507","title":"CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint","display_name":"CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint","publication_year":2023,"publication_date":"2023-12-21","ids":{"openalex":"https://openalex.org/W4390051663","doi":"https://doi.org/10.1177/02783649231222507"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649231222507","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-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/A5103283126","display_name":"Yidi Zhang","orcid":"https://orcid.org/0009-0002-2076-2531"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"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/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yidi Zhang","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102810614","display_name":"Ning An","orcid":"https://orcid.org/0009-0005-4228-8203"},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Ning An","raw_affiliation_strings":["Horizon Robotics, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Beijing, China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101149048","display_name":"Chenhui Shi","orcid":null},"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/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenhui Shi","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025782205","display_name":"Shuo Wang","orcid":"https://orcid.org/0000-0003-1269-7506"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"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/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Wang","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038","https://openalex.org/I4210100255"]},{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101974752","display_name":"Hao Wei","orcid":"https://orcid.org/0000-0002-4630-6422"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wei","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102904889","display_name":"Pengju Zhang","orcid":"https://orcid.org/0000-0001-8245-0205"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengju Zhang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046623268","display_name":"Xinrui Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Xinrui Meng","raw_affiliation_strings":["Horizon Robotics, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Beijing, China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080864619","display_name":"Zengpeng Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Zengpeng Sun","raw_affiliation_strings":["Horizon Robotics, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Beijing, China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090613548","display_name":"Jinke Wang","orcid":"https://orcid.org/0000-0002-3352-4690"},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Jinke Wang","raw_affiliation_strings":["Horizon Robotics, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Beijing, China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039306889","display_name":"Wenliang Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I4401726824","display_name":"Horizon Robotics (China)","ror":"https://ror.org/05cmv6g68","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726824"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Wenliang Liang","raw_affiliation_strings":["Horizon Robotics, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Beijing, China","institution_ids":["https://openalex.org/I4401726824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006625202","display_name":"Fulin Tang","orcid":"https://orcid.org/0000-0002-8474-2671"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"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"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fulin Tang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100645164","display_name":"Yihong Wu","orcid":"https://orcid.org/0000-0003-2198-9113"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"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/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yihong Wu","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038","https://openalex.org/I4210100255"]},{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006625202","https://openalex.org/A5100645164"],"corresponding_institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366","https://openalex.org/I4210165038","https://openalex.org/I4210094879","https://openalex.org/I19820366","https://openalex.org/I4210100255"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":67,"max":78},"biblio":{"volume":"43","issue":"7","first_page":"899","last_page":"917"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9999,"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":0.9999,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.999,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9982,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.75047827},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6781783},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.63284516},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D Reconstruction","score":0.41088626}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.79026186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7755751},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.75047827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6894553},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6868892},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6781783},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.64080113},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.63832176},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.63284516},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.59299946},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.41088626},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3593433},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11174506},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649231222507","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[{"funder":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China","award_id":"62202468"},{"funder":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China","award_id":"61836015"},{"funder":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China","award_id":"2022YFB3303202"}],"datasets":[],"versions":[],"referenced_works_count":67,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1496332694","https://openalex.org/W1612997784","https://openalex.org/W1970504153","https://openalex.org/W1998058414","https://openalex.org/W2021851106","https://openalex.org/W2058535340","https://openalex.org/W2064684591","https://openalex.org/W2115579991","https://openalex.org/W2118002377","https://openalex.org/W2118223742","https://openalex.org/W2136261253","https://openalex.org/W2150382645","https://openalex.org/W2152671441","https://openalex.org/W2167667767","https://openalex.org/W2395018015","https://openalex.org/W2396274919","https://openalex.org/W2471962767","https://openalex.org/W2520105578","https://openalex.org/W2527142681","https://openalex.org/W2564632156","https://openalex.org/W2594519801","https://openalex.org/W2606926518","https://openalex.org/W2736960679","https://openalex.org/W2745859992","https://openalex.org/W2807785345","https://openalex.org/W2883923125","https://openalex.org/W2887564721","https://openalex.org/W2897828525","https://openalex.org/W2899709424","https://openalex.org/W2933190127","https://openalex.org/W2945772959","https://openalex.org/W2951730755","https://openalex.org/W2963095856","https://openalex.org/W2963854007","https://openalex.org/W2964309882","https://openalex.org/W2980040548","https://openalex.org/W3003456500","https://openalex.org/W3003813985","https://openalex.org/W3015238808","https://openalex.org/W3043971245","https://openalex.org/W3089936780","https://openalex.org/W3090386798","https://openalex.org/W3091667825","https://openalex.org/W3098250009","https://openalex.org/W3098486636","https://openalex.org/W3102327032","https://openalex.org/W3102330937","https://openalex.org/W3131898074","https://openalex.org/W3187115527","https://openalex.org/W3199420789","https://openalex.org/W3201048198","https://openalex.org/W3206221349","https://openalex.org/W4220881680","https://openalex.org/W4224005362","https://openalex.org/W4242073862","https://openalex.org/W4246760065","https://openalex.org/W4283832649","https://openalex.org/W4285512293","https://openalex.org/W4288064527","https://openalex.org/W4310605739","https://openalex.org/W4311463255","https://openalex.org/W4312310512","https://openalex.org/W4386412305","https://openalex.org/W4389665975","https://openalex.org/W4389667210","https://openalex.org/W573698898"],"related_works":["https://openalex.org/W4389610161","https://openalex.org/W4309766231","https://openalex.org/W4205459552","https://openalex.org/W3192877624","https://openalex.org/W3115038810","https://openalex.org/W2989564752","https://openalex.org/W2984070345","https://openalex.org/W2952426663","https://openalex.org/W2536504876","https://openalex.org/W2038430283"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,5,20,30,39,50,66,93,106,129,142,153,167],"mapping":[3],"(SLAM)":[4],"3D":[6,40,130,143,154,168],"reconstruction":[7,41,155,169],"have":[8],"numerous":[9],"applications":[10],"for":[11,112,120],"indoor":[12,44,52],"ground":[13,74,126,139],"wheeled":[14,75],"robots":[15],"such":[16],"as":[17],"floor":[18],"sweeping":[19],"food":[21],"delivery.":[22],"To":[23],"advance":[24],"research":[25],"in":[26,42,86,157],"leveraging":[27],"semantic":[28,57,104],"information":[29,105],"multi-sensor":[31,107],"data":[32,69,108],"to":[33,124],"enhance":[34],"the":[35,113,121],"performances":[36],"of":[37,81,150],"SLAM":[38,152,166],"complex":[43,51],"scenes,":[45],"we":[46],"propose":[47],"a":[48,73,158],"novel":[49],"dataset":[53,79,98,147,181],"named":[54],"CID-SIMS,":[55],"where":[56],"annotated":[58],"RGBD":[59],"images,":[60],"inertial":[61],"measurement":[62],"unit":[63],"(IMU)":[64],"measurements,":[65],"wheel":[67],"odometer":[68],"are":[70,109],"provided":[71,110],"from":[72],"robot":[76],"viewpoint.":[77],"The":[78,180],"consists":[80],"22":[82],"challenging":[83],"sequences":[84],"captured":[85],"nine":[87],"different":[88],"scenes":[89],"including":[90],"office":[91],"building":[92],"apartment":[94],"environments.":[95],"Notably,":[96],"our":[97,146,172,176],"achieves":[99],"two":[100],"significant":[101],"breakthroughs.":[102],"Firstly,":[103],"meanwhile":[111],"first":[114,122],"time.":[115],"Secondly,":[116],"GeoSLAM":[117],"is":[118,148,178,182],"utilized":[119],"time":[123],"generate":[125],"truth":[127,140],"trajectories":[128,141],"point":[131,144],"clouds":[132],"within":[133],"two-centimeter":[134],"accuracy.":[135],"With":[136],"spatial-temporal":[137],"synchronous":[138],"clouds,":[145],"capable":[149],"evaluating":[151],"algorithms":[156],"unified":[159],"global":[160],"coordinate":[161],"system.":[162],"We":[163],"evaluate":[164],"state-of-the-art":[165],"approaches":[170],"on":[171,185],"dataset,":[173],"demonstrating":[174],"that":[175],"benchmark":[177],"applicable.":[179],"publicly":[183],"available":[184],"https://cid-sims.github.io":[186],".":[187]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4390051663","counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-01-03T04:37:35.783659","created_date":"2023-12-22"}