MUSeg:A multimodal semantic segmentation dataset for complex underground mine scenes

The MUSeg dataset comprises 3,171 precisely aligned RGB and depth image pairs collected from six typical mines across different regions of China. According to the requirements of mine perception tasks, we manually annotated 15 categories of semantic objects, with all labels reviewed and verified by mining experts. The dataset has also been evaluated using classical multimodal semantic segmentation algorithms. MUSeg not only fills the gap in this field but also provides a critical foundation for research and application of multimodal perception algorithms in mining, contributing significantly to the advancement of intelligent mining.