{"id":"https://openalex.org/W4394839123","doi":"https://doi.org/10.48550/arxiv.2404.08563","title":"FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments","display_name":"FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments","publication_year":2024,"publication_date":"2024-04-12","ids":{"openalex":"https://openalex.org/W4394839123","doi":"https://doi.org/10.48550/arxiv.2404.08563"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2404.08563","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.08563","pdf_url":"https://arxiv.org/pdf/2404.08563","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2404.08563","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019923673","display_name":"Hexiang Wei","orcid":"https://orcid.org/0000-0002-8025-278X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Hexiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048730226","display_name":"Jianhao Jiao","orcid":"https://orcid.org/0000-0001-7372-266X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiao, Jianhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021447091","display_name":"Xiangcheng Hu","orcid":"https://orcid.org/0000-0003-3535-6886"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Xiangcheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048930422","display_name":"Jingwen Yu","orcid":"https://orcid.org/0000-0003-3336-3935"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Jingwen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079117062","display_name":"Xupeng Xie","orcid":"https://orcid.org/0000-0002-7610-5226"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Xupeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116212182","display_name":"Jin Wu","orcid":"https://orcid.org/0000-0001-6653-0088"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Jin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067350621","display_name":"Yilong Zhu","orcid":"https://orcid.org/0000-0001-5332-0794"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Yilong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103000656","display_name":"Yuxuan Liu","orcid":"https://orcid.org/0009-0008-7849-6444"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yuxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032068842","display_name":"Lujia Wang","orcid":"https://orcid.org/0000-0002-6710-4897"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Lujia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347765","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-1114-1728"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Ming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9894000291824341,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7754854559898376},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7280060052871704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7078492045402527},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6037315130233765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.591507077217102},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5891484022140503},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4421478807926178},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3970344364643097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3950904309749603},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3366811275482178},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.1028764545917511},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08207815885543823}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7754854559898376},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7280060052871704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7078492045402527},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6037315130233765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.591507077217102},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5891484022140503},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4421478807926178},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3970344364643097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3950904309749603},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3366811275482178},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.1028764545917511},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08207815885543823},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2404.08563","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.08563","pdf_url":"https://arxiv.org/pdf/2404.08563","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2404.08563","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2404.08563","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2404.08563","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.08563","pdf_url":"https://arxiv.org/pdf/2404.08563","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3162204513","https://openalex.org/W4295532600","https://openalex.org/W2063823869","https://openalex.org/W2047973478","https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2562256921","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W2907848307"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,40,59,75,92,103,119,171],"Mapping":[3],"(SLAM)":[4],"technology":[5],"has":[6],"been":[7],"widely":[8],"applied":[9],"in":[10,36,134],"various":[11],"robotic":[12],"scenarios,":[13],"from":[14,77],"rescue":[15],"operations":[16],"to":[17],"autonomous":[18],"driving.":[19],"However,":[20],"the":[21,113,129,148],"generalization":[22],"of":[23,38,63,110,131],"SLAM":[24,51,136,143,154],"algorithms":[25],"remains":[26],"a":[27,49,60,81,84,87,93,107],"significant":[28],"challenge,":[29],"as":[30],"current":[31],"datasets":[32],"often":[33],"lack":[34],"scalability":[35],"terms":[37],"platforms":[39],"environments.":[41],"To":[42,127],"address":[43],"this":[44],"limitation,":[45],"we":[46,138,146],"present":[47],"FusionPortableV2,":[48],"multi-sensor":[50],"dataset":[52,67,114,133],"featuring":[53],"sensor":[54,168],"diversity,":[55],"varied":[56],"motion":[57],"patterns,":[58],"wide":[61],"range":[62],"environmental":[64],"scenarios.":[65],"Our":[66],"comprises":[68],"$27$":[69],"sequences,":[70],"spanning":[71],"over":[72],"$2.5$":[73],"hours":[74],"collected":[76],"four":[78],"distinct":[79],"platforms:":[80],"handheld":[82],"suite,":[83],"legged":[85],"robots,":[86],"unmanned":[88],"ground":[89],"vehicle":[90],"(UGV),":[91],"vehicle.":[94],"These":[95],"sequences":[96],"cover":[97],"diverse":[98],"settings,":[99],"including":[100,167],"buildings,":[101],"campuses,":[102],"urban":[104],"areas,":[105],"with":[106],"total":[108],"length":[109],"$38.7km$.":[111],"Additionally,":[112],"includes":[115],"ground-truth":[116],"(GT)":[117],"trajectories":[118],"RGB":[120],"point":[121],"cloud":[122],"maps":[123],"covering":[124],"approximately":[125],"$0.3km^2$.":[126],"validate":[128],"utility":[130],"our":[132],"advancing":[135],"research,":[137],"assess":[139],"several":[140],"state-of-the-art":[141],"(SOTA)":[142],"algorithms.":[144],"Furthermore,":[145],"demonstrate":[147],"dataset's":[149],"broad":[150],"application":[151],"beyond":[152],"traditional":[153],"tasks":[155],"by":[156],"investigating":[157],"its":[158],"potential":[159],"for":[160],"monocular":[161],"depth":[162],"estimation.":[163],"The":[164],"complete":[165],"dataset,":[166],"data,":[169],"GT,":[170],"calibration":[172],"details,":[173],"is":[174],"accessible":[175],"at":[176],"https://fusionportable.github.io/dataset/fusionportable_v2.":[177]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}