Chilean underground mine dataset

Abstract

This article presents a robotic dataset collected from the largest underground copper mine in the world. The sensor mea-surements from a 3D scanning lidar, a 2D radar, and stereo cameras were recorded from an approximately two kilometertraverse of a production-active tunnel. The equipment used and the data collection process is discussed in detail, alongwith the format of the data. This dataset is suitable for research in robotic navigation, as well as simultaneous localizationand mapping. The download instructions are available at the following website.