CAVERS: Multimodal SLAM Data from a Natural Karstic Cave with Ground Truth Motion Capture

CAVERS is a multimodal dataset collected at Cueva de la Victoria in Málaga, Spain, comprising sequences from an RGB-D camera, an IMU, a rotating 3D LiDAR, and a near-IR thermal camera. Sequences are recorded under two independent conditions: illumination, either in full darkness or using an LED light source mounted on the sensor rig, and platform, with the sensor rig operated either handheld or installed on a wheeled rover. Accurate and high frequency rig’s pose and velocity ground truth are provided for localization-targeted sequences, as provided by an Optitrack motion capture system installed in the cave.