Oakland 3D

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Oakland 3D

This repository contains labeled 3-D point cloud laser data collected from a moving platform in a urban environment. Data are provided for research purposes.The data was collected using Navlab11 equiped with side looking SICK LMS laser scanners and used in push-broom. The data was collected around CMU campus in Oakland, Pittsburgh, PA.Data are provided in ascii format: x y z label confidence, one point per line, space as separator. Corresponding vrml files (*.wrl) and label counts (*.stats) are also provided. The data set is made of two subset (part2, part3) with each its own local reference frame, where each file contains 100,000 3-D points. The training/validation and testing data was filtered and labeled remapped from 44 into 5 labels. Full dataset contains 17 files, 1.6 millions 3-D pts, 44 labels.Contextual Classification with Functional Max-Margin Markov Networks. Daniel Munoz, J. Andrew (Drew) Bagnell, Nicolas Vandapel, and Martial Hebert. CVPR 2009Update: ICRA 2011 version 2 (7 labels, ICRA 2011)

Dataset Attributes

Label SVG
CategoriesReconstruction, Sfm, Urban, Laser, Lidar, 3D, City