SubSurfaceGeoRobo: A Comprehensive Underground Dataset for SLAM-based Geomonitoring with Sensor Calibration

With the introduction of mobile mapping technologies, geomonitoring has become increasingly efficient and automated. The integration of Simultaneous Localization and Mapping (SLAM) and robotics has effectively addressed the challenges posed by many mapping or monitoring technologies, such as GNSS and unmanned aerial vehicles, which fail to work in underground environments. However, the complexity of underground environments, the high cost of research in this area, and the limited availability of experimental sites have hindered the progress of relevant research in the field of SLAM-based underground geomonitoring. […]