A Dynamic Points Removal Benchmark in Point Cloud Maps

Uniformat Dataset LiDAR Point Cloud Data [PCD format: with pose and points (x,y,z,/i)] We recommend you read this wiki page first to know about data: https://kth-rpl.github.io/DynamicMap_Benchmark/data/For methods detail: DynamicMap_Benchmark repo, DUFOMap, BeautyMap. 00: KITTI sequence 00 [VLP-64] from frame 4390 to 4530 05: KITTI sequence 05 [VLP-64] from frame 2350 to 2670 av2: Argoverse 2.0 one sequence on 07YOTznatmYypvQYpzviEcU3yGPsyaGg__Spring_2020. [2 x VLP-32] KTH campus: CVPR'24 MCD(Leica RTC360) For convenience teaser running, we include only 18 frames in data. Please check the MCD project page for more. semindoor: semi-indoor dataset collected by [VLP-16], collected by ourselves. twofloor: complex structure with two floors[Livox mid-360], collected by ourselves. Dataset Description Sensor Type Total Frame Number KITTI sequence 00 in a small town with few dynamics (including one pedestrian around) VLP-64 141 KITTI sequence 05 in a small town straight way, one higher car, the benchmarking paper cover image from this sequence. VLP-64 321 Argoverse2 in a big city, crowded and tall buildings (including cyclists, vehicles, people walking near the building etc. 2 x VLP-32 575 KTH campus (no gt) Collected by us (Thien-Minh) on the KTH campus. Lots of people move around on the campus. The DUFOMap paper cover image is from this one. Leica RTC360 18 Semi-indoor Collected by us (Qingwen & Mingkai), running on a small 1x2 vehicle with two people walking around the platform. VLP-16 960 Twofloor (no gt) Collected by us (Bowen Yang) in a quadruped robot. A two-floor structure environment with one pedestrian around. Livox-mid 360 3305 Cite as: @inproceedings{zhang2023benchmark, author={Zhang, Qingwen and Duberg, Daniel and Geng, Ruoyu and Jia, Mingkai and Wang, Lujia and Jensfelt, Patric}, booktitle={IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)}, title={A Dynamic Points Removal Benchmark in Point Cloud Maps}, year={2023}, pages={608-614}, doi={10.1109/ITSC57777.2023.10422094}}@article{jia2024beautymap, author={Jia, Mingkai and Zhang, Qingwen and Yang, Bowen and Wu, Jin and Liu, Ming and Jensfelt, Patric}, journal={IEEE Robotics and Automation Letters}, title={{BeautyMap}: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps}, year={2024}, volume={9}, number={7}, pages={6256-6263}, doi={10.1109/LRA.2024.3402625}}@article{daniel2024dufomap, author={Duberg, Daniel and Zhang, Qingwen and Jia, Mingkai and Jensfelt, Patric}, journal={IEEE Robotics and Automation Letters}, title={{DUFOMap}: Efficient Dynamic Awareness Mapping}, year={2024}, volume={9}, number={6}, pages={5038-5045}, doi={10.1109/LRA.2024.3387658}} If you use this data, feel free to add your project to https://kth-rpl.github.io/DynamicMap_Benchmark/papers/