Railroad Environment Mobile Laser Scanning Data

A subset of railroad environment data collected in Finland in December 2019 with a mobile laser scanner placed on a service locomotive driven on the track. Parts of the full data are used in [1]: see the publication for more information about the data acquisition process.

The dataset covers a continuous region of length 2km and contains 42.9M points. The region contains between 2–4 parallel tracks with multiple intersections.

Data includes x-, y-, and z-coordinates stored in the x, y, and z fields and single-wavelength intensity values stored in the intensity field. The original measurement times have been mapped to uniformly distributed values within the interval [0,1] and stored within the gps_time field. All other fields are unused.

Both compressed (.laz) and uncompressed files (.las) are provided.

[1] A. Kononen, H. Kaartinen, A. Kukko, M. Lehtomäki, J. Taher, and J. Hyyppä, “Fully automated extraction of railtop centerline from mobile laser scanning data,” Automation in Construction, vol. 168, article number 105812, 2024, doi:10.1016/j.autcon.2024.105812.