# WHU-Helmet: A Helmet-Based Multisensor SLAM Dataset for the Evaluation of Real-Time 3-D Mapping in Large-Scale GNSS-Denied Environments

> Research article (IEEE Transactions on Geoscience and Remote Sensing, 2023) · cited 58× · AI/ML

**Wikidata**: [openalex:W4376466763](https://www.wikidata.org/wiki/openalex:W4376466763)  
**Source**: https://4ort.xyz/entity/whu-helmet-a-helmet-based-multisensor-slam-dataset-for-the-evaluation-of-real-time-3-d-mapping-in-large-scale-gnss-denie