WHU-Helmet: A Helmet-Based Multisensor SLAM Dataset for the Evaluation of Real-Time 3-D Mapping in Large-Scale GNSS-Denied Environments.
Jianping LiWeitong WuBisheng YangXianghong ZouYandi YangXin ZhaoZhen DongPublished in: IEEE Trans. Geosci. Remote. Sens. (2023)