CAVERS: Multimodal SLAM Data from a Natural Karstic Cave with Ground Truth Motion Capture
Industry
Source: arXiv cs.ROPublish time unverified
arXiv:2604.15052v2 Announce Type: replace Abstract: Autonomous robots operating in natural karstic caves face perception and navigation challenges that are qualitatively distinct from those encountered in mines or tunnels: irregular geometry, reflective wet surfaces, near-zero ambient light, and complex branching passages. Yet publicly available datasets targeting this environment remain scarce and offer limited sensing modalities and environmental diversity.