Toronto-3D: A Large-scale Mobile LiDAR Dataset for Semantic Segmentation of Urban Roadways

  title={Toronto-3D: A Large-scale Mobile LiDAR Dataset for Semantic Segmentation of Urban Roadways},
  author={Weikai Tan and Nannan Qin and Lingfei Ma and Ying Li and Jing Du and Guorong Cai and Ke Yang and Jonathan Li},
  journal={2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)},
  • W. Tan, Nannan Qin, Jonathan Li
  • Published 18 March 2020
  • Environmental Science, Computer Science
  • 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)
Semantic segmentation of large-scale outdoor point clouds is essential for urban scene understanding in various applications, especially autonomous driving and urban high-definition (HD) mapping. With rapid developments of mobile laser scanning (MLS) systems, massive point clouds are available for scene understanding, but publicly accessible large-scale labeled datasets, which are essential for developing learning-based methods, are still limited. This paper introduces Toronto-3D, a large-scale… 

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