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31 dataset results for 3D Semantic Segmentation

The nuScenes dataset is a large-scale autonomous driving dataset. The dataset has 3D bounding boxes for 1000 scenes collected in Boston and Singapore. Each scene is 20 seconds long and annotated at 2Hz. This results in a total of 28130 samples for training, 6019 samples for validation and 6008 samples for testing. The dataset has the full autonomous vehicle data suite: 32-beam LiDAR, 6 cameras and radars with complete 360° coverage. The 3D object detection challenge evaluates the performance on 10 classes: cars, trucks, buses, trailers, construction vehicles, pedestrians, motorcycles, bicycles, traffic cones and barriers.

1,549 PAPERS • 20 BENCHMARKS

SemanticKITTI

SemanticKITTI is a large-scale outdoor-scene dataset for point cloud semantic segmentation. It is derived from the KITTI Vision Odometry Benchmark which it extends with dense point-wise annotations for the complete 360 field-of-view of the employed automotive LiDAR. The dataset consists of 22 sequences. Overall, the dataset provides 23201 point clouds for training and 20351 for testing.

533 PAPERS • 10 BENCHMARKS

S3DIS (Stanford 3D Indoor Scene Dataset (S3DIS))

The Stanford 3D Indoor Scene Dataset (S3DIS) dataset contains 6 large-scale indoor areas with 271 rooms. Each point in the scene point cloud is annotated with one of the 13 semantic categories.

421 PAPERS • 10 BENCHMARKS

KITTI-360

KITTI-360 is a large-scale dataset that contains rich sensory information and full annotations. It is the successor of the popular KITTI dataset, providing more comprehensive semantic/instance labels in 2D and 3D, richer 360 degree sensory information (fisheye images and pushbroom laser scans), very accurate and geo-localized vehicle and camera poses, and a series of new challenging benchmarks.

161 PAPERS • 6 BENCHMARKS

PartNet

PartNet is a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. The dataset consists of 573,585 part instances over 26,671 3D models covering 24 object categories. This dataset enables and serves as a catalyst for many tasks such as shape analysis, dynamic 3D scene modeling and simulation, affordance analysis, and others.

123 PAPERS • 3 BENCHMARKS

SemanticPOSS

The SemanticPOSS dataset for 3D semantic segmentation contains 2988 various and complicated LiDAR scans with large quantity of dynamic instances. The data is collected in Peking University and uses the same data format as SemanticKITTI.

56 PAPERS • 2 BENCHMARKS

AMOS

Despite the considerable progress in automatic abdominal multi-organ segmentation from CT/MRI scans in recent years, a comprehensive evaluation of the models' capabilities is hampered by the lack of a large-scale benchmark from diverse clinical scenarios. Constraint by the high cost of collecting and labeling 3D medical data, most of the deep learning models to date are driven by datasets with a limited number of organs of interest or samples, which still limits the power of modern deep models and makes it difficult to provide a fully comprehensive and fair estimate of various methods. To mitigate the limitations, we present AMOS, a large-scale, diverse, clinical dataset for abdominal organ segmentation. AMOS provides 500 CT and 100 MRI scans collected from multi-center, multi-vendor, multi-modality, multi-phase, multi-disease patients, each with voxel-level annotations of 15 abdominal organs, providing challenging examples and test-bed for studying robust segmentation algorithms under

51 PAPERS • 1 BENCHMARK

RELLIS-3D

RELLIS-3D is a multi-modal dataset for off-road robotics. It was collected in an off-road environment containing annotations for 13,556 LiDAR scans and 6,235 images. The data was collected on the Rellis Campus of Texas A&M University and presents challenges to existing algorithms related to class imbalance and environmental topography. The dataset also provides full-stack sensor data in ROS bag format, including RGB camera images, LiDAR point clouds, a pair of stereo images, high-precision GPS measurement, and IMU data.

34 PAPERS • 2 BENCHMARKS

STPLS3D

Our project (STPLS3D) aims to provide a large-scale aerial photogrammetry dataset with synthetic and real annotated 3D point clouds for semantic and instance segmentation tasks.

32 PAPERS • 3 BENCHMARKS

nuScenes-C

🤖 Robo3D - The nuScenes-C Benchmark nuScenes-C is an evaluation benchmark heading toward robust and reliable 3D perception in autonomous driving. With it, we probe the robustness of 3D detectors and segmentors under out-of-distribution (OoD) scenarios against corruptions that occur in the real-world environment. Specifically, we consider natural corruptions happen in the following cases:

26 PAPERS • 3 BENCHMARKS

3RScan

A novel dataset and benchmark, which features 1482 RGB-D scans of 478 environments across multiple time steps. Each scene includes several objects whose positions change over time, together with ground truth annotations of object instances and their respective 6DoF mappings among re-scans.

24 PAPERS • 4 BENCHMARKS

SensatUrban

The SensatUrbat dataset is an urban-scale photogrammetric point cloud dataset with nearly three billion richly annotated points, which is five times the number of labeled points than the existing largest point cloud dataset. The dataset consists of large areas from two UK cities, covering about 6 km^2 of the city landscape. In the dataset, each 3D point is labeled as one of 13 semantic classes, such as ground, vegetation, car, etc..

24 PAPERS • 1 BENCHMARK

DALES (DALES: A Large-scale Aerial LiDAR Data Set for Semantic Segmentation)

We present the Dayton Annotated LiDAR Earth Scan (DALES) data set, a new large-scale aerial LiDAR data set with over a half-billion hand-labeled points spanning 10 square kilometers of area and eight object categories. Large annotated point cloud data sets have become the standard for evaluating deep learning methods. However, most of the existing data sets focus on data collected from a mobile or terrestrial scanner with few focusing on aerial data. Point cloud data collected from an Aerial Laser Scanner (ALS) presents a new set of challenges and applications in areas such as 3D urban modeling and large-scale surveillance. DALES is the most extensive publicly available ALS data set with over 400 times the number of points and six times the resolution of other currently available annotated aerial point cloud data sets. This data set gives a critical number of expert verified hand-labeled points for the evaluation of new 3D deep learning algorithms, helping to expand the focus of curren

23 PAPERS • 2 BENCHMARKS

ScanNet200

The ScanNet200 benchmark studies 200-class 3D semantic segmentation - an order of magnitude more class categories than previous 3D scene understanding benchmarks. The source of scene data is identical to ScanNet, but parses a larger vocabulary for semantic and instance segmentation

22 PAPERS • 3 BENCHMARKS

SemanticKITTI-C

🤖 Robo3D - The SemanticKITTI-C Benchmark SemanticKITTI-C is an evaluation benchmark heading toward robust and reliable 3D semantic segmentation in autonomous driving. With it, we probe the robustness of 3D segmentors under out-of-distribution (OoD) scenarios against corruptions that occur in the real-world environment. Specifically, we consider natural corruptions happen in the following cases:

20 PAPERS • 1 BENCHMARK

Paris-Lille-3D

The Paris-Lille-3D is a Benchmark on Point Cloud Classification. The Point Cloud has been labeled entirely by hand with 50 different classes. The dataset consists of around 2km of Mobile Laser System point cloud acquired in two cities in France (Paris and Lille).

13 PAPERS • 1 BENCHMARK

ScribbleKITTI

ScribbleKITTI is a scribble-annotated dataset for LiDAR semantic segmentation.

13 PAPERS • 2 BENCHMARKS

HM3DSem

The Habitat-Matterport 3D Semantics Dataset (HM3DSem) is the largest-ever dataset of 3D real-world and indoor spaces with densely annotated semantics that is available to the academic community. HM3DSem v0.2 consists of 142,646 object instance annotations across 216 3D-spaces from HM3D and 3,100 rooms within those spaces. The HM3D scenes are annotated with the 142,646 raw object names, which are mapped to 40 Matterport categories. On average, each scene in HM3DSem v0.2 consists of 661 objects from 106 categories. This dataset is the result of 14,200+ hours of human effort for annotation and verification by 20+ annotators.

10 PAPERS • NO BENCHMARKS YET

SynLiDAR

SynLiDAR is a large-scale synthetic LiDAR sequential point cloud dataset with point-wise annotations. 13 sequences of LiDAR point cloud with around 20k scans (over 19 billion points and 32 semantic classes) are collected from virtual urban cities, suburban towns, neighborhood, and harbor.

10 PAPERS • 1 BENCHMARK

BuildingNet

BuildingNet is a large-scale dataset of 3D building models whose exteriors are consistently labeled. The dataset consists on 513K annotated mesh primitives, grouped into 292K semantic part components across 2K building models. The dataset covers several building categories, such as houses, churches, skyscrapers, town halls, libraries, and castles.

9 PAPERS • 1 BENCHMARK

KiTS19 (The 2019 Kidney and Kidney Tumor Segmentation Challenge)

The 2021 Kidney and Kidney Tumor Segmentation challenge (abbreviated KiTS21) is a competition in which teams compete to develop the best system for automatic semantic segmentation of renal tumors and surrounding anatomy.

7 PAPERS • 1 BENCHMARK

LiDAR-MOS

LiDAR-MOS (LiDAR-based Moving Object Segmentation)

Tasks. In moving object segmentation of point cloud sequences, one has to provide motion labels for each point of the test sequences 11-21. Therefore, the input to all evaluated methods is a list of coordinates of the three-dimensional points along with their remission, i.e., the strength of the reflected laser beam which depends on the properties of the surface that was hit. Each method should then output a label for each point of a scan, i.e., one full turn of the rotating LiDAR sensor. Here, we only distinguish between static and moving object classes.

6 PAPERS • NO BENCHMARKS YET

SemanticSTF

SemanticSTF is an adverse-weather point cloud dataset that provides dense point-level annotations and allows to study 3DSS under various adverse weather conditions. It contains 2,076 scans captured by a Velodyne HDL64 S3D LiDAR sensor from STF that cover various adverse weather conditions including 694 snowy, 637 dense-foggy, 631 light-foggy, and 114 rainy (all rainy LiDAR scans in STF).

5 PAPERS • NO BENCHMARKS YET

ScanNet++

ScanNet++ (ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes)

ScanNet++ is a large scale dataset with 450+ 3D indoor scenes containing sub-millimeter resolution laser scans, registered 33-megapixel DSLR images, and commodity RGB-D streams from iPhone. The 3D reconstructions are annotated with long-tail and label-ambiguous semantics to benchmark semantic understanding methods, while the coupled DSLR and iPhone captures enable benchmarking of novel view synthesis methods in high-quality and commodity settings.

4 PAPERS • 1 BENCHMARK

Swiss3DCities

Swiss3DCities is a dataset that is manually annotated for semantic segmentation with per-point labels, and is built using photogrammetry from images acquired by multirotors equipped with high-resolution cameras.

4 PAPERS • NO BENCHMARKS YET

WOD-C

🤖 Robo3D - The WOD-C Benchmark WOD-C is an evaluation benchmark heading toward robust and reliable 3D perception in autonomous driving. With it, we probe the robustness of 3D detectors and segmentors under out-of-distribution (OoD) scenarios against corruptions that occur in the real-world environment. Specifically, we consider natural corruptions happen in the following cases:

4 PAPERS • 1 BENCHMARK

FOR-instance (FOR-instance: a UAV laser scanning benchmark dataset for semantic and instance segmentation of individual trees)

The challenge of accurately segmenting individual trees from laser scanning data hinders the assessment of crucial tree parameters necessary for effective forest management, impacting many downstream applications. While dense laser scanning offers detailed 3D representations, automating the segmentation of trees and their structures from point clouds remains difficult. The lack of suitable benchmark datasets and reliance on small datasets have limited method development. The emergence of deep learning models exacerbates the need for standardized benchmarks. Addressing these gaps, the FOR-instance data represent a novel benchmarking dataset to enhance forest measurement using dense airborne laser scanning data, aiding researchers in advancing segmentation methods for forested 3D scenes.

3 PAPERS • NO BENCHMARKS YET

OpenTrench3D

OpenTrench3D, the first publicly available point cloud dataset of underground utilities from open trenches. It features 310 fully annotated point clouds consisting of a total of 528 million points categorised into 5 unique classes. OpenTrench3D consists of photogrammetrically derived 3D point clouds capturing detailed scenes of open trenches, revealing underground utilities.

3 PAPERS • 1 BENCHMARK

3D Platelet EM

3D Platelet EM (Platelet Electron Microscopy)

The platelet-em dataset contains two 3D scanning electron microscope (EM) images of human platelets, as well as instance and semantic segmentations of those two image volumes. This data has been reviewed by NIBIB, contains no PII or PHI, and is cleared for public release. All files use a multipage uint16 TIF format. A 3D image with size [Z, X, Y] is saved as Z pages of size [X, Y]. Image voxels are approximately 40x10x10 nm

2 PAPERS • 2 BENCHMARKS

GF-PA66 3D XCT (Glass fiber-reinforced polyamide 66 (GF-PA66) 3D X-ray Computed Tomography (XCT)))

Stack of 2D gray images of glass fiber-reinforced polyamide 66 (GF-PA66) 3D X-ray Computed Tomography (XCT) specimen.

1 PAPER • 1 BENCHMARK

GF-PA66 3D XCT (latest)

GF-PA66 3D XCT (latest) (Glass fiber-reinforced polyamide 66 3D X-ray Computed Tomography)

Stack of 2D gray images of glass fiber-reinforced polyamide 66 (GF-PA66) 3D X-ray Computed Tomography (XCT) specimen.

1 PAPER • NO BENCHMARKS YET

Datasets

31 dataset results for 3D Semantic Segmentation