SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
With SemanticKITTI, we release a large dataset to propel research on laser-based semantic segmentation. We annotated all sequences of the KITTI Vision Odometry Benchmark and provide dense point-wise annotations for the complete 360 deg field-of-view of the employed automotive LiDAR. We propose three benchmark tasks based on this dataset: (i) semantic segmentation of point clouds using a single scan, (ii) semantic segmentation using sequences comprised of multiple past scans, and (iii) semantic scene completion, which requires to anticipate the semantic scene in the future. We provide baseline experiments and show that there is a need for more sophisticated models to efficiently tackle these tasks.
J. Behley, M. Garbade, A. Milioto, J. Quenzel, S. Behnke, C. Stachniss, and J. Gall, “SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences,” in Proc. of the IEEE/CVF International Conf.~on Computer Vision (ICCV), 2019.