期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 40, 期 8-9, 页码 959-967出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/02783649211006735
关键词
Dataset; LiDAR; point clouds; semantic segmentation; panoptic segmentation; semantic scene completion
类别
资金
- Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) [FOR 1505, BE 5996/1-1, GA 1927/5-2 (FOR 2535), EXC-2070 - 390732324]
Researchers introduced the SemanticKITTI dataset for holistic semantic scene understanding in self-driving, with point-wise semantic annotations of Velodyne HDL-64E point clouds from the KITTI Odometry Benchmark. The dataset includes three benchmark tasks: semantic segmentation, semantic scene completion, and panoptic segmentation, covering different aspects of semantic scene understanding.
A holistic semantic scene understanding exploiting all available sensor modalities is a core capability to master self-driving in complex everyday traffic. To this end, we present the SemanticKITTI dataset that provides point-wise semantic annotations of Velodyne HDL-64E point clouds of the KITTI Odometry Benchmark. Together with the data, we also published three benchmark tasks for semantic scene understanding covering different aspects of semantic scene understanding: (1) semantic segmentation for point-wise classification using single or multiple point clouds as input; (2) semantic scene completion for predictive reasoning on the semantics and occluded regions; and (3) panoptic segmentation combining point-wise classification and assigning individual instance identities to separate objects of the same class. In this article, we provide details on our dataset showing an unprecedented number of fully annotated point cloud sequences, more information on our labeling process to efficiently annotate such a vast amount of point clouds, and lessons learned in this process. The dataset and resources are available at .
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