3D semantic segmentation is one of the key tasks for autonomous driving system. Recently, deep learning models for 3D semantic segmentation task have been widely researched, but they usually require large amounts of training data. However, the present datasets for 3D semantic segmentation are lack of point-wise annotation, diversiform scenes and dynamic objects. In this paper1, we propose the SemanticPOSS dataset, which 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. In addition, we evaluate several typical 3D semantic segmentation models on our SemanticPOSS dataset. Experimental results show that SemanticPOSS can help to improve the prediction accuracy of dynamic objects as people, car in some degree. SemanticPOSS will be published at www.poss.pku.edu.cn.


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    Title :

    SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances


    Contributors:
    Pan, Yancheng (author) / Gao, Biao (author) / Mei, Jilin (author) / Geng, Sibo (author) / Li, Chengkun (author) / Zhao, Huijing (author)


    Publication date :

    2020-10-19


    Size :

    3925789 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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