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SubSurfaceGeoRobo: A Comprehensive Underground Dataset for SLAM-based Geomonitoring with Sensor Calibration

With the introduction of mobile mapping technologies, geomonitoring has become increasingly efficient and automated. The integration of Simultaneous Localization and Mapping (SLAM) and robotics has effectively addressed the challenges posed by many mapping or monitoring technologies, such as GNSS and unmanned aerial vehicles, which fail to work in underground environments. However, the complexity of underground environments, the high cost of research in this area, and the limited availability of experimental sites have hindered the progress of relevant research in the field of SLAM-based underground geomonitoring. In response, we present SubSurfaceGeoRobo, a dataset specifically focused on underground environments with unique characteristics of subsurface settings, such as extremely narrow passages, high humidity, standing water, reflective surfaces, uneven illumination, dusty conditions, complex geometry, and texture less areas. This aims to provide researchers with a free platform to develop, test, and train their methods, ultimately promoting the advancement of SLAM, navigation, and SLAM-based geomonitoring in underground environments. SubSurfaceGeoRobo was collected in September 2024 in the Freiberg silver mine in Germany using an unmanned ground vehicle equipped with a multi-sensor system, including radars, 3D LiDAR, depth and RGB cameras, IMU, and 2D laser scanners. Data from all sensors are stored as bag files, allowing researchers to replay the collected data and export it into the desired format according to their needs. To ensure the accuracy and usability of the dataset, as well as the effective fusion of sensors, all sensors have been jointly calibrated. The calibration methods and results are included as part of this dataset. Finally, a 3D point cloud ground truth with an accuracy of less than 2 mm, captured using a RIEGL scanner, is provided as a reference standard.

Digital terrain model of the watercourse estuary Elbe 2016 (DGM-W 2016) | model data

The digital terrain model of waterways for the estuary of river Elbe (DGM-W 2016) in high resolution based on airborne laser scanning and echo sounder data is produced and published by the German Federal Waterways and Shipping Administration (Wasserstraßen- und Schifffahrtsverwaltung des Bundes, WSV). The data includes the Outer Elbe and the tidally influenced side branches of the Elbe estuary upstream to the town Geesthacht. The data is available in a raster resolution of 1 meter. Coordinate reference system: EPSG 25852, ETRS89 / UTM Zone 32N Elevation reference system: DHHN92, NHN Survey methods: Airborne laser scanning (ALS) 02. - 04.2016 Multibeam echo sounder, single beam echo sounder 2015-2017 It is strongly recommended to use the data source map for quality assessment.

Digital terrain model of the watercourse estuary Elbe 2022 (DGM-W 2022) | model data

The digital terrain model of waterways for the estuary of river Elbe (DGM-W 2022) in high resolution based on airborne laser scanning and echo sounder data is produced and published by the German Federal Waterways and Shipping Administration (Wasserstraßen- und Schifffahrtsverwaltung des Bundes, WSV). The data includes the Outer Elbe and the tidally influenced tributaries and branches of the Elbe estuary upstream to the town Geesthacht. The data is available in a raster resolution of 1 meter. Coordinate reference system: EPSG 25852, ETRS89 / UTM Zone 32N Elevation reference system: DHHN2016, NHN Survey methods: Airborne laser scanning (ALS) 02.04.2022 - 19.04.2022 Multibeam echo sounder, single beam echo sounder 09.02.2017 - 09.04.2023 It is strongly recommended to use the data source map for quality assessment.

Ermittlung einer moeglichen Belastung von Gewaessern bei der Berieselung von Holz in Grosspoltern

Zur Erhaltung eines marktgerechten Preises wird Holz aus Windwurfkatastrophen in Mengen von mehreren 1000 m3 in Grosspoltern gelagert. Es ist festzustellen, inwieweit durch ausgewaschene Holz- und Rindeninhaltsstoffe eine Belastung des Grundwassers und von Oberflaechengewaessern eintritt.

Lokalisation der toxischen Metalle Blei und Cadmium in Pflanzenzellen

Lebenden bzw. vorher fixierten Pflanzen bzw. Pflanzenteilen wird Blei bzw. Cadmium in unterschiedlichen Konzentrationen unterschiedlich lang angeboten. Die eingedrungenen und gefaellten Metalle werden elektronenmikroskopisch und unter Zuhilfenahme einer EDAX-Mikrosonde bzw. eines Laser-Mass-Analyzers (LAMMA) lokalisiert und charakterisiert. Ueber die Lokalisation der toxischen Schwermetalle Blei und Cadmium in Pflanzenzellen liegen bisher wenige Angaben vor. Um die Wirkungsmechanismen der Schwermetalle besser als bisher verstehen zu koennen, erscheint es notwendig, die Lokalisation eingebrachter Schwermetalle zu untersuchen. Damit werden praezisere Aussagen ueber die Entgiftungsmechanismen und Schaeden moeglich. Vorlaeufige eigene elektronenmikroskopische Untersuchungen lassen erkennen, dass das wenige Blei, das in Zellen ueberhaupt eindringt, ueber die Dictyosomen und ueber Vesikel des endoplasmatischen Retikulums entweder in Vakuolen geschleust oder wieder nach aussen transportiert wird. Die Huellen der Mitochondrien und Plastiden scheinen auch als Filter zu wirken, da in diesen Kompartimenten hoehere Konzentrationen als im Inneren der erwaehnten Organellen anfallen. Eventuell wird vor energiereichen Metaboliten an diesen Reaktionsorten Phosphorsaeure durch zelleigene Phosphatasen abgespalten, was zu einer Fuellung der Bleiionen als Bleiphosphat fuehrt. Das anfallende schwerloesliche Bleiphosphat wird dann an Orte transportiert, an denen es weniger Schaden anrichten kann.

Evaluierung und Erhaltung genetischer Ressourcen bei Rohstoffpflanzen und Futterpflanzen

Wildformen und alte Sorten werden auf Ertrags- und Qualitaetsmerkmale untersucht und anschliessend vermehrt. Durch Langzeitlagerung bei der Genbank wird das Saatgut als Ausgangsmaterial fuer die Pflanzenzuechtung langfristig zur Verfuegung gestellt.

Ship Emission Inspection with Calibration-free Optical Remote sensing, Vorhaben: Entwicklung eines UV/vis Fernerkundungssystem zur Messung von SO2 und NO2 in Schiffsabgasfahnen

05H2024 - R&D BESCHLEUNIGER (SuperSurfer), Kombinierte Simulationen von Schichtstrukturen

Auswaschung von wasserloeslichen Holzschutzmitteln aus Kuehlturmholz als moegliche Umweltbelastung

Ermittlung der Auswaschung von wasserloeslichen Holzschutzmitteln aus getraenktem Schnittholz in Abhaengigkeit von Schutzmitteltyp, Traenkverfahren und Lagerungsdauer bis zum Einsatz, einschliesslich deren Auswirkung auf die Standdauer des Holzes im Kuehlturmbetrieb. Ermittlung der optimalen Traenkverfahren und Lagerungszeiten fuer Kuehlturmhoelzer.

Organic matter composition in the subsoil: Contribution of root litter and microbial-derived compounds

The aim of P2 within the Research Unit 'The Forgotten Part of Carbon Cycling: Organic Matter Storage and Turnover in Subsoils (SUBSOM)' is to contribute to the understanding of the different sources and stabilization processes of subsoil organic matter. This will be achieved by the analysis of the soil organic matter composition in topsoil versus subsoil by 13C NMR spectroscopy in bulk soils as well as organo-mineral associations. This will be done on a number of soil profiles differing in parent material and mineralogy and therefore also in the relevance of organo-mineral associations for subsoil C stabilization. In addition, a specific sampling approach will allow to differentiate three zones associated with the dominating effect of (1) leaching of DOC (the 'bulk soil' between trees), (2) root litter decomposition (the 'root-affected zone'), and (3) direct rhizodeposition of root exudates (the 'rhizosphere' sensu strictu). The contribution of above-ground versus below-ground litter is differentiated by the analysis of cutin and suberin biomarkers. Organic matter derived from microbial sources will be identified by the microbial signature of polysaccharides in the subsoil through the analysis of neutral sugars and amino sugars. Organo-mineral associations will be further characterized by N2-BET analyses to delineate the coverage of the mineral phase with organic matter. With these analyses and our specific analytical expertise at the submicron scale (nanoSIMS) we will participate in selected joint experiments of the research unit.

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