SemanticSTF Dataset

SemanticSTF is an adverse-weather point cloud dataset that provides dense point-level annotations and allows to study 3DSS under various adverse weather conditions. It contains 2,076 scans captured by a Velodyne HDL64 S3D LiDAR sensor from STF that cover various adverse weather conditions including 694 snowy, 637 dense-foggy, 631 light-foggy, and 114 rainy (all rainy LiDAR scans in STF).SemanticSTF为一套不利天气条件下的点云数据集，该数据集提供了密集的点级标注，并允许研究在多种不利天气条件下的3D场景语义分割。该数据集包含由STF的Velodyne HDL64 S3D激光雷达传感器捕获的2,076个扫描，涵盖了包括694个雪天、637个浓雾天、631个轻雾天以及114个雨天（STF中所有雨天激光雷达扫描）在内的各种不利天气条件。