The dataset includes RGB-D images collected in various underground environments, such as coal mine scenes, garage scenes, basement scenes, and more. The data was captured using consumer-grade RGB-D cameras, and includes RGB-D sequences with synchronized ground-truth camera trajectories, which were generated by a multi-sensor fusion SLAM framework. This dataset aims to support the development and evaluation of SLAM methods for underground environments. It is… See the full description on the dataset page:
https://huggingface.co/datasets/MISPM/Underground_RGB-D.
