Jenolan Caves: 3D Data Collection

3D laser scan data of Jenolan Caves, NSW, Australia. Data were acquired using three 3D mobile mapping systems developed at CSIRO. The vast majority of the data was collected using the Zebedee 3D Mapping System, a handheld lidar system that generates maps from measurement collected as an operator holding the device traverses through the site. Other data were acquired from the bentwing 3D Aerial Mapping System, which has similar sensors to Zebedee mounted on a quadrotor MAV platform.\n\nThe primary representations provided are detailed 3D point cloud maps of the caves and the surface above them (approximately 2.3 billion points), as well as the trajectory estimate of the laser scanner as it was carried through the environment (approximately 28.4km over 22 hours of data collection).

澳大利亚新南威尔士州杰诺兰溶洞（Jenolan Caves）的三维激光扫描数据集。本数据集由澳大利亚联邦科学与工业研究组织（CSIRO）研发的三套三维移动测绘系统采集获取。其中绝大多数数据通过Zebedee三维测绘系统（Zebedee 3D Mapping System）采集：该系统为手持式激光雷达测绘设备，操作员握持该设备遍历作业区域时，可基于实时采集的测量数据生成测绘地图。其余数据则采集自bentwing三维航空测绘系统（bentwing 3D Aerial Mapping System），该系统在四旋翼微型飞行器（MAV）平台上搭载了与Zebedee同款的传感器。

本数据集提供的核心表征成果包括溶洞及其上方地表的高精度三维点云地图（总计约23亿个点），以及激光扫描仪在作业环境中的运动轨迹估计数据：总采集时长22小时，轨迹总长约28.4千米。