The authors acknowledge Paul Vallejos and Rodrigo Asenjo from the Advanced Mining Technology Center (AMTC) for facilating the logistics that made the dataset collection possible. The authors also gratefully acknowledge the Julius-Maximilians-Universität Würzburg, Germany for their provision of the Riegl 3D scanning lidar. The Husky A200 robotic platform was partially supported by the Clearpath Robotics “Partnerbot” program, with the remaining cost of the vehicle and other sensors being funded by the Universidad de Chile. The support of the Advanced Mining Technology Center (AMTC) is also gratefully acknowledged. This work was funded by Conicyt-DAAD collaborative project PCCI12009 and Fondecyt projects 1150930 and 3150066.