{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T15:23:38Z","timestamp":1780586618680,"version":"3.54.1"},"reference-count":49,"publisher":"SAGE Publications","issue":"6-7","license":[{"start":{"date-parts":[[2021,4,6]],"date-time":"2021-04-06T00:00:00Z","timestamp":1617667200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2021,6]]},"abstract":"<jats:p>This article presents a collection of multimodal raw data captured from a manned all-terrain vehicle in the course of two realistic outdoor search and rescue (SAR) exercises for actual emergency responders conducted in M\u00e1laga (Spain) in 2018 and 2019: the UMA-SAR dataset. The sensor suite, applicable to unmanned ground vehicles (UGVs), consisted of overlapping visible light (RGB) and thermal infrared (TIR) forward-looking monocular cameras, a Velodyne HDL-32 three-dimensional (3D) lidar, as well as an inertial measurement unit (IMU) and two global positioning system (GPS) receivers as ground truth. Our mission was to collect a wide range of data from the SAR domain, including persons, vehicles, debris, and SAR activity on unstructured terrain. In particular, four data sequences were collected following closed-loop routes during the exercises, with a total path length of 5.2 km and a total time of 77 min. In addition, we provide three more sequences of the empty site for comparison purposes (an extra 4.9 km and 46 min). Furthermore, the data is offered both in human-readable format and as rosbag files, and two specific software tools are provided for extracting and adapting this dataset to the users\u2019 preference. The review of previously published disaster robotics repositories indicates that this dataset can contribute to fill a gap regarding visual and thermal datasets and can serve as a research tool for cross-cutting areas such as multispectral image fusion, machine learning for scene understanding, person and object detection, and localization and mapping in unstructured environments. The full dataset is publicly available at: www.uma.es\/robotics-and-mechatronics\/sar-datasets .<\/jats:p>","DOI":"10.1177\/02783649211004959","type":"journal-article","created":{"date-parts":[[2021,4,7]],"date-time":"2021-04-07T02:27:47Z","timestamp":1617762467000},"page":"835-847","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":27,"title":["The UMA-SAR Dataset: Multimodal data collection from a ground vehicle during outdoor disaster response training exercises"],"prefix":"10.1177","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1095-4775","authenticated-orcid":false,"given":"Jes\u00fas","family":"Morales","sequence":"first","affiliation":[{"name":"Universidad de M\u00e1laga, Andaluc\u00eda Tech, Robotics and Mechatronics Group, M\u00e1laga, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1742-6852","authenticated-orcid":false,"given":"Ricardo","family":"V\u00e1zquez-Mart\u00edn","sequence":"additional","affiliation":[{"name":"Universidad de M\u00e1laga, Andaluc\u00eda Tech, Robotics and Mechatronics Group, M\u00e1laga, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9994-6239","authenticated-orcid":false,"given":"Anthony","family":"Mandow","sequence":"additional","affiliation":[{"name":"Universidad de M\u00e1laga, Andaluc\u00eda Tech, Robotics and Mechatronics Group, M\u00e1laga, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David","family":"Morilla-Cabello","sequence":"additional","affiliation":[{"name":"Universidad de M\u00e1laga, Andaluc\u00eda Tech, Robotics and Mechatronics Group, M\u00e1laga, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alfonso","family":"Garc\u00eda-Cerezo","sequence":"additional","affiliation":[{"name":"Universidad de M\u00e1laga, Andaluc\u00eda Tech, Robotics and Mechatronics Group, M\u00e1laga, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2021,4,6]]},"reference":[{"key":"bibr1-02783649211004959","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21848"},{"key":"bibr2-02783649211004959","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21651"},{"key":"bibr3-02783649211004959","first-page":"380","volume-title":"IEEE International Symposium on Safety, Security, and Rescue Robotics","author":"Ba\u00f1uls A","year":"2020"},{"key":"bibr4-02783649211004959","unstructured":"Berrocoso M, P\u00e1ez R, Jigena B, Caturla C (2006) The RAP Net: A geodetic positioning network for Andalusia (South Spain). 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