DeepAI AI Chat
Log In Sign Up

UrbanScene3D: A Large Scale Urban Scene Dataset and Simulator

07/09/2021
by   Yilin Liu, et al.
0

The ability to perceive the environments in different ways is essential to robotic research. This involves the analysis of both 2D and 3D data sources. We present a large scale urban scene dataset associated with a handy simulator based on Unreal Engine 4 and AirSim, which consists of both man-made and real-world reconstruction scenes in different scales, referred to as UrbanScene3D. Unlike previous works that purely based on 2D information or man-made 3D CAD models, UrbanScene3D contains both compact man-made models and detailed real-world models reconstructed by aerial images. Each building has been manually extracted from the entire scene model and then has been assigned with a unique label, forming an instance segmentation map. The provided 3D ground-truth textured models with instance segmentation labels in UrbanScene3D allow users to obtain all kinds of data they would like to have: instance segmentation map, depth map in arbitrary resolution, 3D point cloud/mesh in both visible and invisible places, etc. In addition, with the help of AirSim, users can also simulate the robots (cars/drones)to test a variety of autonomous tasks in the proposed city environment. Please refer to our paper and website(https://vcc.tech/UrbanScene3D/) for further details and applications.

READ FULL TEXT
05/04/2023

UrbanBIS: a Large-scale Benchmark for Fine-grained Urban Building Instance Segmentation

We present the UrbanBIS benchmark for large-scale 3D urban understanding...
12/01/2016

TorontoCity: Seeing the World with a Million Eyes

In this paper we introduce the TorontoCity benchmark, which covers the f...
12/18/2021

3D Instance Segmentation of MVS Buildings

We present a novel framework for instance segmentation of 3D buildings f...
03/28/2023

AutoKary2022: A Large-Scale Densely Annotated Dateset for Chromosome Instance Segmentation

Automated chromosome instance segmentation from metaphase cell microscop...
02/04/2022

StandardSim: A Synthetic Dataset For Retail Environments

Autonomous checkout systems rely on visual and sensory inputs to carry o...
03/14/2020

OccuSeg: Occupancy-aware 3D Instance Segmentation

3D instance segmentation, with a variety of applications in robotics and...
08/25/2021

Lizard: A Large-Scale Dataset for Colonic Nuclear Instance Segmentation and Classification

The development of deep segmentation models for computational pathology ...