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路轨道的点云数据。第一段覆盖代芬特尔（Deventer）与特韦洛（Twello）之间的线路，第二段位于德龙滕（Dronten）周边。数据由Strukton Rail公司搭载于专用测量列车的Velodyne VLP-16移动激光扫描仪采集。两段线路的点云数据均采用EPSG:32631坐标系，时间戳则统一使用协调世界时（Coordinated Universal Time, UTC）。所提供的文件均为LAZ格式文件。测量列车的运行轨迹也采用ETRS89坐标系进行记录。
该数据集共标注如下类别：背景（标签0）、接触网支柱（标签1）、拉杆（标签3）、信号机（标签4）与继电器柜（标签5）。标签值通过“标量场（Scalar Field）”属性与点云数据绑定存储。每个标注对象均带有唯一标识符（unique identifier, UID），该标识符同样以“标量场（Scalar Field）”属性的形式内嵌于数据中。
**代芬特尔-特韦洛段**
线路长度：6.5 km
采集日期：2021-06-14
轨迹日志时区：中欧夏令时（Central European Summer Time, CEST, UTC+02:00）
补充说明：测量列车在该段轨道往返行驶四次，并未在区段终点掉头，而是直接倒车返程。列车换向操作存在一定难度，这意味着轨道两侧的对象无法被双向采集。测量列车的每一趟行驶记为一个“趟次（run）”，四次趟次的点云数据已合并为单个文件，可通过`run`标量场属性区分各趟次。该数据集针对信号类对象（标签6）与灯柱（标签2）提供部分标注。
**德龙滕段**
线路长度：2.9 km
采集日期：2021-11-16
轨迹日志时区：中欧标准时（Central European Time, CET, UTC+01:00）
补充说明：该数据集额外新增一类标注：接触网支柱的悬臂（标签7），悬臂与其所属支柱共享同一唯一标识符。点云数据的时间戳与轨迹日志的时间戳未实现同步。
**预发布访问**
本数据集处于发布限制期内。若您希望在限制期结束前获取该数据集，请发送附带简短说明的邮件至Corne.vandekraats at strukton dot com。