SemanticKITTI Dataset

SemanticKITTI is a large-scale outdoor-scene dataset for point cloud semantic segmentation. It is derived from the KITTI Vision Odometry Benchmark which it extends with dense point-wise annotations for the complete 360 field-of-view of the employed automotive LiDAR. The dataset consists of 22 sequences. Overall, the dataset provides 23201 point clouds for training and 20351 for testing.

SemanticKITTI 是一个大规模的户外场景点云语义分割数据集。该数据集源于 KITTI 视觉里程计基准测试，并通过为使用的车载激光雷达提供完整的 360 度视场密集的点状标注对其进行扩展。该数据集包含 22 个序列。总体而言，该数据集为训练提供了 23201 个点云，为测试提供了 20351 个点云。