A Dynamic Points Removal Benchmark in Point Cloud Maps
Description
Uniformat Dataset LiDAR Point Cloud Data [PCD format: with pose and points (x,y,z,/i)]
Check DynamicMap_Benchmark repo and DUFOMap for more details.
- 00: KITTI sequence 00 [VLP-64] from frame 4390 to 4530
- 05: KITTI sequence 05 [VLP-64] from frame 2350 to 2670
- av2: Argoverse 2.0 one sequence on 07YOTznatmYypvQYpzviEcU3yGPsyaGg__Spring_2020. [2 x VLP-32]
- KTH campus: CVPR'24 MCD(Leica RTC360) For convenience teaser running, we include only 18 frames in data. Please check the MCD project page for more.
- semindoor: semi-indoor dataset collected by [VLP-16], collected by ourselves.
- twofloor: complex structure with two floors[Livox mid-360], collected by ourselves.
| Dataset | Description | Sensor Type | Total Frame Number |
| KITTI sequence 00 | in a small town with few dynamics (including one pedestrian around) | VLP-64 | 141 |
| KITTI sequence 05 | in a small town straight way, one higher car, the benchmarking paper cover image from this sequence. | VLP-64 | 321 |
| Argoverse2 | in a big city, crowded and tall buildings (including cyclists, vehicles, people walking near the building etc. | 2 x VLP-32 | 575 |
| KTH campus (no gt) | Collected by us (Thien-Minh) on the KTH campus. Lots of people move around on the campus. | Leica RTC360 | 18 |
| Semi-indoor | Collected by us, running on a small 1x2 vehicle with two people walking around the platform. | VLP-16 | 960 |
| Twofloor (no gt) | Collected by us (Bowen Yang) in a quadruped robot. A two-floor structure environment with one pedestrian around. | Livox-mid 360 | 3305 |
Cite as:
@inproceedings{zhang2023benchmark,
author={Zhang, Qingwen and Duberg, Daniel and Geng, Ruoyu and Jia, Mingkai and Wang, Lujia and Jensfelt, Patric},
booktitle={2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)},
title={A Dynamic Points Removal Benchmark in Point Cloud Maps},
year={2023},
pages={608-614},
doi={10.1109/ITSC57777.2023.10422094}
}@article{daniel2024dufomap,
author={Duberg, Daniel and Zhang, Qingwen and Jia, MingKai and Jensfelt, Patric},
journal={IEEE Robotics and Automation Letters},
title={{DUFOMap}: Efficient Dynamic Awareness Mapping},
year={2024},
volume={},
number={},
pages={1-8},
doi={10.1109/LRA.2024.3387658}
}
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