Paper Citation Record · LEDGER

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM

As of 9 August 2026, this Paper Citation Record lists 37 of 37 outbound references and 2 inbound Pith citation observations for arXiv:2502.01946.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2502.01946 v3

Coverage vector

measured 37 of 37 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-09T13:55:24.485179Z

measured 39 of 39 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-09T06:31:02.800959+00:00

measured 2 of 2 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-07T11:52:51.212178Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-07-03T23:59:06.926734Z

Reference resolution

37 of 37 outbound references displayed

verified exact1
verified fuzzy33
unresolved3
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation cf67e478-aab3-44f6-acee-04943e94da71 · outbound

This paper cites A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-09T13:55:24.366429Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fd884488-d90f-40a5-8a5b-9d94729ee7fe · outbound

This paper cites Look around you: Sequence-based radar place recognition with learned rotational invariance,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Look around you: Sequence-based radar place recognition with learned rotational invariance,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.863124Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 530fc12d-d93f-4686-843d-9cc780ef0ba6 · outbound

This paper cites Pharao: Direct radar odometry using phase correlation,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Pharao: Direct radar odometry using phase correlation,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.853721Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation ceb0d358-6098-4c23-b1f1-46da4f815a60 · outbound

This paper cites Raplace: Place recognition for imaging radar using radon transform and mutable threshold,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Raplace: Place recognition for imaging radar using radon transform and mutable threshold,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.844260Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation a7c769a1-5fc0-42f5-bc51-f72bc5838aa8 · outbound

This paper cites Learning-based extended object tracking using hierarchical truncation mea- surement model with automotive radar,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Learning-based extended object tracking using hierarchical truncation mea- surement model with automotive radar,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.834155Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 45aac94b-4960-4a1c-b4f9-9b906fbe9293 · outbound

This paper cites Robust multiobject tracking using mmwave radar-camera sensor fusion,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Robust multiobject tracking using mmwave radar-camera sensor fusion,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.824638Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 3386cdf0-8d46-4ca1-940e-49c13cb060f1 · outbound

This paper cites Multi-object tracking with mmwave radar: A review,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Multi-object tracking with mmwave radar: A review,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.815287Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 25cd434e-84df-4682-a1b4-019426740332 · outbound

This paper cites 3-d object detection for multiframe 4-d au- tomotive millimeter-wave radar point cloud,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM 3-d object detection for multiframe 4-d au- tomotive millimeter-wave radar point cloud,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.805787Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 62a79882-1832-4c44-87b0-7bdbfe894c09 · outbound

This paper cites Extended object tracking using automotive radar,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Extended object tracking using automotive radar,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.796381Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 2b748503-39d0-4352-abf4-ed6d74750b9e · outbound

This paper cites 4d iriom: 4d imaging radar inertial odometry and mapping,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM 4d iriom: 4d imaging radar inertial odometry and mapping,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.786967Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 85c7395d-aed4-4714-9b06-4167198b7db9 · outbound

This paper cites 4dradarslam: A 4d imaging radar slam system for large-scale environments based on pose graph optimization,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM 4dradarslam: A 4d imaging radar slam system for large-scale environments based on pose graph optimization,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.777729Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation f6102a35-0337-4315-ac64-93e9f98b4bf5 · outbound

This paper cites 4d radar-based pose graph slam with ego-velocity pre-integration factor,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM 4d radar-based pose graph slam with ego-velocity pre-integration factor,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.768588Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation c5d92df4-384d-4a2b-a848-ae8ab5e30a52 · outbound

This paper cites Automotive radar dataset for deep learning based 3d object detection,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Automotive radar dataset for deep learning based 3d object detection,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.759232Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation e2681852-85e9-47d9-ac69-c71b2b63bce7 · outbound

This paper cites Raw high- definition radar for multi-task learning,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Raw high- definition radar for multi-task learning,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.749944Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 12ef0b41-1ef6-4879-9e05-c47240d5e315 · outbound

This paper cites Multi-class road user detection with 3+ 1d radar in the view- of-delft dataset,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Multi-class road user detection with 3+ 1d radar in the view- of-delft dataset,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.740547Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation f06354f9-d5b0-40fa-8b48-d2bb2436953b · outbound

This paper cites Tj4dradset: A 4d radar dataset for autonomous driving,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Tj4dradset: A 4d radar dataset for autonomous driving,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.730993Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 084d7a67-1032-47f2-8bac-55129c5e9537 · outbound

This paper cites K-radar: 4d radar object detection for autonomous driving in various weather conditions,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM K-radar: 4d radar object detection for autonomous driving in various weather conditions,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.721719Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 2e1e81a7-b9ad-4486-89c2-7a68534810ef · outbound

This paper cites Msc-rad4r: Ros-based automotive dataset with 4d radar,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Msc-rad4r: Ros-based automotive dataset with 4d radar,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.712186Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation f428dd7a-0635-4466-989e-d7f8f5418ad5 · outbound

This paper cites Ntu4dradlm: 4d radar-centric multi-modal dataset for localization and mapping,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Ntu4dradlm: 4d radar-centric multi-modal dataset for localization and mapping,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.702998Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation fa771273-46be-4d73-ae13-5f458ad3970f · outbound

This paper cites Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Driving.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Driving

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-09T13:55:24.431017Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6af7ffad-5905-4d70-8bb2-3859a522623c · outbound

This paper cites SNAIL Radar: A large-scale diverse benchmark for evaluating 4D-radar-based SLAM.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM SNAIL Radar: A large-scale diverse benchmark for evaluating 4D-radar-based SLAM

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-09T13:55:24.434509Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 09726b77-74f9-4d38-b999-09f36289f28b · outbound

This paper cites The oxford radar robotcar dataset: A radar extension to the oxford robotcar dataset,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM The oxford radar robotcar dataset: A radar extension to the oxford robotcar dataset,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.693475Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation aab8c7d6-535f-4aa6-9957-0d3213e68766 · outbound

This paper cites Mulran: Multimodal range dataset for urban place recognition,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Mulran: Multimodal range dataset for urban place recognition,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.683192Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 3f0e7dec-e362-4f1c-b3c9-850baab5c8eb · outbound

This paper cites Radiate: A radar dataset for automotive perception in bad weather,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Radiate: A radar dataset for automotive perception in bad weather,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.673983Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 0c4e9591-c66e-421f-9cfd-2565b69662ca · outbound

This paper cites Boreas: A multi-season autonomous driving dataset,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Boreas: A multi-season autonomous driving dataset,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.664921Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 3a62e58c-9369-4356-b35e-73f7aeb467c3 · outbound

This paper cites OORD: The Oxford Offroad Radar Dataset.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM OORD: The Oxford Offroad Radar Dataset

Reference 26

Resolution: verified exact; local_arxiv, observed 2026-08-09T13:55:24.518086Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation b7555e0c-af95-480a-a7dc-9133967b4967 · outbound

This paper cites 3d ego-motion estimation using low-cost mmwave radars via radar velocity factor for pose-graph slam,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM 3d ego-motion estimation using low-cost mmwave radars via radar velocity factor for pose-graph slam,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.655628Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 564c4c89-7567-4c66-922f-4c5c6c7d2b4d · outbound

This paper cites Fully inte- grated fmcw lidar optical engine on a single silicon chip,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Fully inte- grated fmcw lidar optical engine on a single silicon chip,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.646361Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation fdf5665a-fa8f-4f16-b6e4-12d32bc4fa2a · outbound

This paper cites Fmcw lidar system to reduce hardware complexity and post-processing techniques to im- prove distance resolution,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Fmcw lidar system to reduce hardware complexity and post-processing techniques to im- prove distance resolution,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.636554Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 65606774-b466-450f-8e71-da394590154b · outbound

This paper cites Fmcw lidar using phase-diversity coherent detection to avoid signal aliasing,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Fmcw lidar using phase-diversity coherent detection to avoid signal aliasing,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.626822Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation d2ccd443-ed7f-4744-8e8a-c3e7e6ed4ae8 · outbound

This paper cites Radar scan matching slam using the fourier- mellin transform,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Radar scan matching slam using the fourier- mellin transform,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.617375Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation c3ebf2a0-7dc7-431a-a6cb-84ea52bc6882 · outbound

This paper cites A joint extrinsic calibration tool for radar, camera and lidar,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM A joint extrinsic calibration tool for radar, camera and lidar,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.607234Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation c5326413-06de-4559-979b-0392565becb3 · outbound

This paper cites Robust real-time lidar-inertial initialization,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Robust real-time lidar-inertial initialization,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.596872Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 9c19eb66-cc38-4a3a-bd5e-1f0ba4f677b3 · outbound

This paper cites Continuous-time visual-inertial odometry for event cameras,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Continuous-time visual-inertial odometry for event cameras,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.587300Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 0d7baa19-f92f-4711-baca-2c535533ae00 · outbound

This paper cites Fast-lio: A fast, robust lidar-inertial odometry package by tightly-coupled iterated kalman filter,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Fast-lio: A fast, robust lidar-inertial odometry package by tightly-coupled iterated kalman filter,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.577347Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 7f2dc850-f815-48a6-a1ed-b5f330b69f91 · outbound

This paper cites Orora: Outlier-robust radar odometry,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Orora: Outlier-robust radar odometry,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.567174Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 87ee93e6-d24b-42ce-827c-b1e23fe2f7d4 · outbound

This paper cites Scan context: Egocentric spatial descrip- tor for place recognition within 3d point cloud map,.

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM Scan context: Egocentric spatial descrip- tor for place recognition within 3d point cloud map,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T13:55:24.556797Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Pith citing papers

Observation a3215d04-5355-4094-95c6-018aab951652 · inbound

RadarSplat: Radar Gaussian Splatting for High-Fidelity Data Synthesis and 3D Reconstruction of Autonomous Driving Scenes cites this paper.

RadarSplat: Radar Gaussian Splatting for High-Fidelity Data Synthesis and 3D Reconstruction of Autonomous Driving Scenes HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-07T11:52:51.212178Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 670ac6ff-e85f-4cd1-ae7b-86754b47f82b · inbound

Spatially Stratified Distillation for Heterogeneous Radar Place Recognition cites this paper.

Spatially Stratified Distillation for Heterogeneous Radar Place Recognition HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-07-03T23:59:06.929970Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.