Data61 / 2D3D Dataset

Data61 / 2D3D dataset has been prepared for outdoor scene understanding which consists of a series of 2D panoramic images with corresponding 3D LIDAR point clouds. It contains 10 outdoor scenes, each of which includes a block of 3D point cloud together with several panoramic images. The number of 3D points in the scenes varies from 1 to 2 millions, and each scene contains between 11 and 21 panoramic images.\nLineage: The dataset was manually annotated in the 3D domain and the ground truth labeling of the panoramic images were obtained via 3D-2D projection of the 3D labels. The 2D ground truth images were later checked and retouched to produce a more precise 2D ground truth. This step accounts for projection errors due to misalignments or parallax and also deals with moving and/or reflective objects whose point cloud data is very sparse. Additionally, the label Sky, which does not exist in the 3D data, was included as a new label in the 2D images. The point cloud data is seen from multiple viewpoints thanks to the 360 degree panoramic images, and its FOV covers the entire image (both vertically and horizontally) instead of just a portion in other datasets.