Annotated mobile laser scans of the Dutch railway environment

This dataset contains point cloud data of two stretches of railway track in the Netherlands. One stretch covers the trajectory between Deventer and Twello, the other stretch is located around Dronten. The data have been captured using a Veldodyne VLP-16 mobile laser scanner mounted on a dedicated measurement train by Strukton Rail. For both stretches, the EPSG:32631 coordinate reference system (CRS) was used for the captured point clouds and for the timestamps Coordinated Universal Time (UTC) was used. The provided files are LAZ files. The trajectory of the measurement train is also logged using the ETRS89 CRS.<br>In common, these four classes are annotated:Background, label=0Catenary masts, label=1Tension rods, label=3Signals, label=4Relay cabinets, label=5<br>Label values are stored in conjunction with the data using a 'Scalar Field' attribute. Each annotated object also carries a unique identifier (uid). This uid is also provided as a 'Scalar Field' attribute within the data.<br><br>** Deventer-Twello **Length: 6.5 kmAcquisition date: 2021-06-14Trajectory log time zone: Central European Summer Time (CEST, UTC+02:00)<br>Additional notes:The measurement train drove four times back and forth on the same piece of track. The measurement train did not turn at the end of the section, but instead just drove backwards. Reversing a train is not easy. This implies that objects are not captured from both directions on the track. Each trip of the measurement train will be referred to as a run. All four runs are merged together into one file. Each of the runs can be distinguished by the `run` Scalar Field attribute.<br>This dataset has partial labels for signs (label=6) and lamp posts (label=2).<br>** Dronten **Length: 2.9 kmAcquisition date: 2021-11-16Trajectory log time zone: Central European Time (CET, UTC+01:00)<br>Additional notes:This dataset has one additional label, the arms of catenary masts have also been labelled (label=7). The arm carries the same uid as the mast.The timestamps between the point cloud data and the trajectory log are not synchronised.<br>** Early access **The dataset is available under an embargo. If you would like to obtain the dataset before the embargo period expires, send an e-mail with a short motivation to [e-mail].