NPM3D dataset with instance label. Dataset used in paper "A Review of Panoptic Segmentation for Mobile Mapping Point Clouds"

NPM3D is a public benchmark for point cloud semantic segmentation, with 10 classes including: ground, building, pole (road sign and traffic light), bollard, trash can, barrier, pedestrian, car, natural (vegetation) and unclassified. Results are evaluated only w.r.t. 9 classes, disregarding the "unclassified" label. The data has been captured with a mapping-grade mobile laser scanning system in different cities in France. There are 4 regions designated for training, all captured in Paris and Lille; and 3 regions for testing, captured in Dijon and Ajaccio. The standard 10-class version described above has actually been derived from a more fine-grained version of the dataset by keeping only the most frequent labels. The original annotations feature 50 different semantic classes (most of which are very rare), and also individual object instance labels for the training regions. For panoptic segmentation, a new version has been generated that still uses the 10 semantic category labels listed above, but also includes instance labels. The classes ground, building and barrier are considered "stuff" and are not separated into instances. As no instance labels are available for the 3 test regions, our version for panoptic (or pure instance) segmentation only contains 4 different regions from Paris and Lille. Instead of a fixed training/test split all experiments therefore use 4-fold cross-validation.