DeepAI AI Chat
Log In Sign Up

Paris-CARLA-3D: A Real and Synthetic Outdoor Point Cloud Dataset for Challenging Tasks in 3D Mapping

11/22/2021
by   Jean-Emmanuel Deschaud, et al.
MINES ParisTech
12

Paris-CARLA-3D is a dataset of several dense colored point clouds of outdoor environments built by a mobile LiDAR and camera system. The data are composed of two sets with synthetic data from the open source CARLA simulator (700 million points) and real data acquired in the city of Paris (60 million points), hence the name Paris-CARLA-3D. One of the advantages of this dataset is to have simulated the same LiDAR and camera platform in the open source CARLA simulator as the one used to produce the real data. In addition, manual annotation of the classes using the semantic tags of CARLA was performed on the real data, allowing the testing of transfer methods from the synthetic to the real data. The objective of this dataset is to provide a challenging dataset to evaluate and improve methods on difficult vision tasks for the 3D mapping of outdoor environments: semantic segmentation, instance segmentation, and scene completion. For each task, we describe the evaluation protocol as well as the experiments carried out to establish a baseline.

READ FULL TEXT

page 3

page 4

page 8

page 9

page 20

page 21

page 22

page 23

07/12/2021

SynLiDAR: Learning From Synthetic LiDAR Sequential Point Cloud for Semantic Segmentation

Transfer learning from synthetic to real data has been proved an effecti...
08/17/2021

KITTI-CARLA: a KITTI-like dataset generated by CARLA Simulator

KITTI-CARLA is a dataset built from the CARLA v0.9.10 simulator using a ...
12/16/2020

S3CNet: A Sparse Semantic Scene Completion Network for LiDAR Point Clouds

With the increasing reliance of self-driving and similar robotic systems...
04/27/2023

A Review of Panoptic Segmentation for Mobile Mapping Point Clouds

3D point cloud panoptic segmentation is the combined task to (i) assign ...
12/23/2020

Semantic Segmentation on Swiss3DCities: A Benchmark Study on Aerial Photogrammetric 3D Pointcloud Dataset

We introduce a new outdoor urban 3D pointcloud dataset, covering a total...
03/17/2022

STPLS3D: A Large-Scale Synthetic and Real Aerial Photogrammetry 3D Point Cloud Dataset

Although various 3D datasets with different functions and scales have be...
11/16/2020

Manual-Label Free 3D Detection via An Open-Source Simulator

LiDAR based 3D object detectors typically need a large amount of detaile...