InLUT3D: Indoor Lodz University of Technology Point Cloud Dataset

Background This resource contains Indoor Lodz University of Technology Point Cloud Dataset (InLUT3D) - a point cloud dataset tailored for real object classification and both semantic and instance segmentation tasks. Comprising of 321 scans, some areas in the dataset are covered by multiple scans. All of them are captured using the Leica BLK360 scanner. Train/test split The datset's authors impose the following train-test split: Split Setup range train from setup_0 to setup_300 test from setup_301 to setup_320 The corresponding setups' objects are recommended for splits for the classificcation task. Available categories The points are divided into 18 distinct categories outlined in the label.yaml file along with their respective codes and colors. Among categories you will find: ceiling, floor, wall, stairs, column, chair, sofa, table, storage, door, window, plant, dish, wallmounted, device, radiator, lighting, other. Challenges Several challenges are intrinsic to the presented dataset: Extremely non-uniform categories distribution across the dataset. Presence of virtual images, particularly in reflective surfaces, and data exterior to windows and doors. Occurrence of missing data due to scanning shadows (certain areas were inaccessible to the scanner's laser beam). High point density throughout the dataset. Dataset structure The structure of the dataset is the following: inlut3d.tar.gz/├─ setup_0/│ ├─ projection.jpg│ ├─ segmentation.jpg│ ├─ setup_0.pts├─ setup_1/│ ├─ projection.jpg│ ├─ segmentation.jpg│ ├─ setup_1.pts... projection.jpg A file containing a spherical projection of a corresponding PTS file. segmentation.jpg A file with objects marked with unique colours. setup_x.pts A file with point cloud int the textual PTS format. Point characteristic Each PTS file contains 8 columns: Column ID Description 1 X Cartesian coordinate 2 Y Cartesian coordinate 3 Z Cartesian Coordinate 4 Red colour in RGB space in the range [0, 255] 5 Green colour in RGB space in the range [0, 255] 6 Blue colour in RGB space in the range [0, 255] 7 Category code 8 Instance ID