WHU-helmet: a helmet-based multisensor SLAM dataset for the evaluation of real-time 3-D mapping in large-scale GNSS-denied environments

• Main Authors: Li, Jianping, Wu, Weitong, Yang, Bisheng, Zou, Xianghong, Yang, Yandi, Zhao, Xin, Dong, Zhen
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Electrical and electronic engineering; Benchmark Dataset; Helmet Laser Scanning
• Online Access: https://hdl.handle.net/10356/172258
• Institution: Nanyang Technological University

Real-time 3-D mapping of large-scale global navigation satellite system (GNSS)-denied environments plays an important role in forest inventory management, disaster emergency response, and underground facility maintenance. Compact helmet laser scanning (HLS) systems keep the same direction as the use...