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. […]随着移动测绘技术的普及应用，地质监测的效率与自动化水平持续提升。同步定位与地图构建（Simultaneous Localization and Mapping，SLAM）与机器人技术的融合，有效解决了诸多测绘与监测技术面临的技术瓶颈：诸如全球导航卫星系统（GNSS）与无人机均无法在地下环境中正常运行。然而，地下环境复杂多变、该领域研究成本高昂且试验场地资源有限，制约了基于SLAM的地下地质监测领域相关研究的推进。[...]