News

• 25.01.28 : The HeRCULES dataset is accepted to ICRA 2025.

• 25.02.05 : Our Paper (arxiv version) is uploaded.

• 25.02.05 : ROS based HeRCULES_File_Player of the HeRCULES dataset is released.

• 25.03.08 : PR_GT has been updated with a unified local coordinate system. 

  • To support multi-session research, the PR_GT of all sequences has been aligned to a unified coordinate system, where the starting point of sequence 01 is set as the origin.

• 25.03.10 : Stereo Camera Data is uploaded.

• 25.05.30 : HeRCULES_Pointcloud_Toolbox  is released.

• 25.06.24 : Updated PR_GT for all sequences to improve orientation accuracy.

• 25.06.25 : Updated Parking Lot 01 and 02 sequences.

Citation

@INPROCEEDINGS { hjkim-2025-icra,

    AUTHOR = { Hanjun Kim and Minwoo Jung and Chiyun Noh and Sangwoo Jung and Hyunho Song and Wooseong Yang and Hyesu Jang and Ayoung Kim },

    TITLE = { HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM },

    BOOKTITLE = { Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) },

    YEAR = { 2025 },

    MONTH = { May. },

    ADDRESS = { Atlanta },

}

Contact

• For any questions regarding the dataset, please leave an issue on GitHub:

https://github.com/hanjun815/HeRCULES_file_player/issues

• Offical : rpmsnu@gmail.com, herculesdataset@gmail.com

• Maintainer : Hanjun Kim (hanjun815@snu.ac.kr) [CV] [LinkedIn]