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HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment
for MuLti-sEssion Radar SLAM
IEEE International Conference on Robotics and Automation
ICRA 2025 in Atlanta, USA
Hanjun Kim, Minwoo Jung, Chiyun Noh, Sangwoo Jung, Hyunho Song, Wooseong Yang, Hyesu Jang, Ayoung Kim
Video
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News
2025/02/05: Our dataset is available via https://sites.google.com/view/herculesdataset.
2025/02/05 : ROS based fileplayer of the HeRCULES dataset is released.
2025/03/08 : PR_GT has been updated with a unified local coordinate system.
2025/03/10 : Stereo Camera Data is uploaded.
2025/05/30 : HeRCULES_Pointcloud_Toolbox is released https://github.com/hanjun815/HeRCULES_Pointcloud_Toolbox.
2025/07/11 : ROS2 fileplayer of HeRCULES is released.
Citation
Citation
@INPROCEEDINGS{11128678,
author={Kim, Hanjun and Jung, Minwoo and Noh, Chiyun and Jung, Sangwoo and Song, Hyunho and Yang, Wooseong and Jang, Hyesu and Kim, Ayoung},
booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
title={HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-Session Radar SLAM},
year={2025},
volume={},
number={},
pages={4649-4656},
keywords={Location awareness;Simultaneous localization and mapping;Laser radar;Lighting;Radar;Sensor fusion;Benchmark testing;Spinning;Meteorology;Global Positioning System},
doi={10.1109/ICRA55743.2025.11128678}}
Contact
Official : herculesdataset@gmail.com
Maintainer : Hanjun Kim (hanjun815@snu.ac.kr) [CV] [LinkedIn]
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