SimKITTI32

        

 

Link to download SIMKITTI32 dataset

                                                                                            Password is: npm3d-SimKITTI32

 

SimKITTI32 is a dataset built from KITTI dataset by simulating the LiDAR sensor Veloydone HDL32 (instead of Velodyne HDL64 in the original KITTI).

It is based on our scene modeling and high-fidelity sensor simulation AdaSplats.

The goal is to test generalization of 3D semantic segmentation methods from one sensor to an other one in the same environment.

 

We did the simulation in sequence 08 (used in all validation procedure of 3D semantic segmentation methods).

 

You can find more details on the process to create the data in the following article: 

Richa et al., 2022, AdaSplats: Adaptive Splats from Semantic Point Cloud for Fast and High-Fidelity LiDAR Simulation

If you use this dataset, do not forget to cite our article:

@article{richa2022adasplats,
  doi = {10.48550/ARXIV.2203.09155},
  url = {https://arxiv.org/abs/2203.09155},
  author = {Richa, Jean Pierre and Deschaud, Jean-Emmanuel and Goulette, François and Dalmasso, Nicolas},
  keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences},
  title = {AdaSplats: Adaptive Splats from Semantic Point Cloud for Fast and High-Fidelity LiDAR Simulation},
  publisher = {arXiv},
  year = {2022},
  copyright = {Creative Commons Attribution 4.0 International}
}

SimKITTI32 dataset is made available under the Creative Commons Attribution Non-Commercial No Derivatives (CC-BY-NC-ND-3.0) License.