Annotated mobile laser scans of the Dutch railway environment

This dataset contains point cloud data of two stretches of railway track in the Netherlands. One stretch covers the trajectory between Deventer and Twello, the other stretch is located around Dronten. The data have been captured using a Veldodyne VLP-16 mobile laser scanner mounted on a dedicated measurement train by Strukton Rail. For both stretches, the EPSG:32631 coordinate reference system (CRS) was used for the captured point clouds and for the timestamps Coordinated Universal Time (UTC) was used. The provided files are LAZ files. The trajectory of the measurement train is also logged using the ETRS89 CRS.<br>In common, these four classes are annotated:Background, label=0Catenary masts, label=1Tension rods, label=3Signals, label=4Relay cabinets, label=5<br>Label values are stored in conjunction with the data using a 'Scalar Field' attribute. Each annotated object also carries a unique identifier (uid). This uid is also provided as a 'Scalar Field' attribute within the data.<br>** Deventer-Twello **Length: 6.5 kmAcquisition date: 2021-06-14Trajectory log time zone: Central European Summer Time (CEST, UTC+02:00)<br>Additional notes:The measurement train drove four times back and forth on the same piece of track. The measurement train did not turn at the end of the section, but instead just drove backwards. Reversing a train is not easy. This implies that objects are not captured from both directions on the track. Each trip of the measurement train will be referred to as a run. All four runs are merged together into one file. Each of the runs can be distinguished by the `run` Scalar Field attribute.<br>This dataset has partial labels for signs (label=6) and lamp posts (label=2).<br>** Dronten **Length: 2.9 kmAcquisition date: 2021-11-16Trajectory log time zone: Central European Time (CET, UTC+01:00)<br>Additional notes:This dataset has one additional label, the arms of catenary masts have also been labelled (label=7). The arm carries the same uid as the mast.The timestamps between the point cloud data and the trajectory log are not synchronised.<br>** Early access **The dataset is available under an embargo. If you would like to obtain the dataset before the embargo period expires, send an e-mail with a short motivation to Corne.vandekraats at strukton dot com

本数据集包含荷兰两段铁轨的点云数据。其中一段为代芬特尔（Deventer）与特韦洛（Twello）间的线路轨迹，另一段位于德罗滕（Dronten）周边。数据由Strukton Rail搭载于专用测量列车的Veldodyne VLP-16移动激光扫描仪采集所得。两段点云数据均采用EPSG:32631坐标参考系（CRS），时间戳使用协调世界时（UTC）。提供的文件格式为LAZ文件。测量列车的运行轨迹亦采用ETRS89坐标参考系进行记录。
通用标注类别包含以下五类（原文标注为四类，存在编号遗漏）：背景（标签0）、接触网杆（标签1）、张力杆（标签3）、信号设备（标签4）与继电器柜（标签5）。标签值以“标量场（Scalar Field）”属性的形式与数据绑定存储。每个标注对象均附带唯一标识符（uid），该标识符同样以标量场属性内嵌于数据中。
**代芬特尔-特韦洛段**
长度：6.5千米
采集日期：2021-06-14
轨迹日志时区：中欧夏令时（CEST，UTC+02:00）
附加说明：测量列车在该段轨道往返行驶四次，并未在区段末端掉头，而是直接倒车折返。列车倒车操作存在一定难度，这意味着轨道两侧的物体无法被双向采集。每一次列车行驶均记为一个“航次（run）”，四次航次的数据已合并为单个文件，用户可通过`run`标量场属性区分各航次。本数据集还包含部分补充标注：信号设备（标签6）与灯柱（标签2）。
**德罗滕段**
长度：2.9千米
采集日期：2021-11-16
轨迹日志时区：中欧标准时间（CET，UTC+01:00）
附加说明：本数据集新增一类标注：接触网杆的悬臂部分亦被标注（标签7），且悬臂与所属杆拥有相同的唯一标识符。点云数据的时间戳与轨迹日志的时间戳未完成同步。
**早期访问**
本数据集处于禁运期内。若您希望在禁运期结束前获取该数据集，请发送附带简短动机说明的邮件至Corne.vandekraats at strukton dot.com