Datasets used in some recent publications.
If we used publically available datasets by other researchers, we redirect to their page. We also report the scans used in the experiments in the corresponding paper. If you're using data from these authors or annotations, you may cite their paper.

Our datasets and labels are licensed under a Creative Commons Attribution-Noncommercial-Share Alike 3.0 Unported License. The datasets are distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

KITTI Validation Dataset

Validation set In our IROS paper, we used a validation set to evaluate different parameters of our approach. To allow comparisons with our approach, we provide here the indices of the images in the validation set and a python script to extract the data using the original training data of the KITTI Vision Benchmark.

References

A. Geiger, P. Lenz, R. Urtasun. Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite, CVPR, 2012.

J. Behley, V. Steinhage, A.B. Cremers. Laser-based Segment Classification Using a Mixture of Bag-of-Words, IROS, 2013.

KITTI Vision Benchmark Suite validation indices python script

Freiburg Dataset

Labels

Ground(Street, Sidewalks), Building(Facade, Door, Window), Vegetation(Foliage, Bush, Lawn), Pole(Utility Poles, Trunks)

References

B. Steder, G. Grisetti, W. Burgard. Robust Place Recognition for 3D Range Data based on Point Features, ICRA, 2010.

J. Behley, V. Steinhage, A.B. Cremers. Performance of Histogram Descriptors for the Classification of 3D Laser Range Data in Urban Environments, ICRA, 2012.

scans our labels folds

Pittsburgh Dataset

Labels

Ground, Vehicle, Building, Vegetation, Pole, Wire

References

D. Munoz, J. A. Bagnell, N. Vandapel, M. Hebert. Contextual Classification with Functional Max-Margin Markov Networks, CVPR, 2009.

scans + labels folds

Wachtberg Dataset

Labels

Ground, Vehicle, Building, Vegetation, Pole

References

J. Behley, V. Steinhage, A.B. Cremers. Performance of Histogram Descriptors for the Classification of 3D Laser Range Data in Urban Environments, ICRA, 2012.

folds