Semantic2D: Enabling Semantic Scene Understanding with 2D Lidar Alone: Dataset

# Semantic2D Dataset

A 2D lidar semantic segmentation dataset for mobile robotics applications. This is the first publicly available 2D lidar semantic segmentation dataset, featuring point-wise annotations for nine indoor object categories across twelve distinct environments.

**Associated Paper:** *Semantic2D: Enabling Semantic Scene Understanding with 2D Lidar Alone***Authors:** Zhanteng Xie, Yipeng Pan, Yinqiang Zhang, Jia Pan, Philip Dames**Institutions:** The University of Hong Kong, Temple University

**Video:** https://youtu.be/P1Hsvj6WUSY**GitHub:** https://github.com/TempleRAIL/semantic2d

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## Citation

```bibtex@article{xie2026semantic2d,  title={Semantic2D: Enabling Semantic Scene Understanding with 2D Lidar Alone},  author={Xie, Zhanteng and Pan, Yipeng and Zhang, Yinqiang and Pan, Jia and Dames, Philip},  journal={arXiv preprint arXiv:2409.09899},  year={2026}}```

## Contact

- Zhanteng Xie: [e-mail]