6,029组街景点云分割数据

6,029组街景点云分割数据，包含由车载RGB摄像头和激光雷达于国内城市和乡村道路（北京、河北等）进行室外路采得到的不同道路上的街景图像和点云数据，覆盖多种采集时间（白天、夜晚等）和天气（晴天、阴天）。每组数据的图像帧和点云文件已完成时空同步标定，且进行点云数据的语义分割标注，含路面、草坪、人行道、其他类别共4种目标类型。该数据可用于自动驾驶等场景。

6,029 sets of street scene point cloud segmentation data. This dataset comprises street view images and point cloud data collected via on-board RGB cameras and LiDARs during outdoor road surveys on urban and rural roads across regions including Beijing, Hebei and other areas in China. It covers diverse acquisition scenarios such as different times of day (daytime, nighttime, etc.) and weather conditions (sunny, cloudy, etc.). The image frames and point cloud files of each set have been spatio-temporally synchronized and calibrated, and the point cloud data has been annotated with semantic segmentation labels for four target categories: road surface, lawn, sidewalk, and other categories. This dataset can be utilized for applications including autonomous driving.