Power Inspection Dataset

The PID is collected by small unmanned aerial vehicles equipped with LiDAR. Each point includes coordinate information (x, y, z) and color information (RGB). The total length of the TLs is approximately 3700 meters, consisting of 17 complete TLs. Each scene contains a complete span TLs, two Towers and a small part of the TLs of other scenes.1) Others: including ground, road, shrub, river and other non-TLs and non-Towers point clouds.2) Towers: including two-loop umbrella tower and single-loop umbrella tower.3) TLs: including overhead transmission lines, ground lines and lightning protection lines; 4) Otherlines: cuts part of the TLs that belong to other scenes when cutting a single scene. We create this category label to distinguish between TLs that span inside and outside.

本数据集由搭载激光雷达（LiDAR）的小型无人机采集。每个点云点均包含(x, y, z)坐标信息与RGB颜色信息。该数据集中输电线路（Transmission Lines，简称TLs）总长度约3700米，涵盖17段完整的输电线路。每个场景包含一跨完整的输电线路、两座杆塔，以及少量来自其他场景的输电线路点云片段。
1) 其他类：包含地面、道路、灌木丛、河流等非输电线路、非杆塔的点云数据。
2) 杆塔类：包含双回路伞形杆塔与单回路伞形杆塔。
3) 输电线路类：包含架空输电线路、地线与避雷线。
4) 跨场景线路类：在对单个场景进行裁剪时，截取的归属其他场景的输电线路片段。我们设立该类别标签，用以区分场景内部与外部的输电线路。