Outdoor Dataset for Place Categorization

SICK Laser

Description

This data consists of panoramic point clouds obtained using a SICK LMS-151 laser scanner on a rotating base. The panoramic point clouds contain depth and reflectance information. The point clouds have a resolution of 3750~3755x760 pixels with a vertical field of view of -85 to 105 degrees, and an horizontal field of view of 360 degrees.

            

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Data format

Each panoramic image is represented using PTS format. Each point contains its 3D-coordinates and the corresponding reflectance value.

A PTS point cloud file contains a header and a body. The body starts in a new line:

		header
		body
		

PTS point cloud header format. Each row starts in a new line:

		number of columns 
		number of rows 
		st1 st2 st3 ; scanner registered position
		sx1 sx2 sx3 ; scanner registered axis 'X'
		sy1 sy2 sy3 ; scanner registered axis 'Y'
		sz1 sz2 sz3 ; scanner registered axis 'Z'
		r11 r12 r13 0 ; transformation matrix
		r21 r22 r23 0 ; this is a simple rotation and translation 4x4 matrix
		r31 r32 r33 0 ; just apply to each point to get the transformed coordinate
		tr1 tr2 tr3 1 ; use double-precision variables
		

PTS point cloud body format. Each row starts in a new line:

		X1 Y1 Z1 reflectance   ; 3D point coordinates and corresponding  
		X2 Y2 Z2 reflectance   ; reflectance value in range: 0 - 1
		... 
		

Point Cloud Library (PCL) format

PTS files can be converted into PCD (Point Cloud Library format) format using the following provided software:
ptxrgb2pcd.zip

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Place Categories

The 3D panoramic scans were obtained at 4 different place categories in Fukuoka city, Japan: forest, redisential area, parking lot, and urban area. Each category contains 7 sets of panoramic images. Each set was obtained in a different place inside the same category. The following table summarizes the data:

Number of scans
Place	Set 1	Set 2	Set 3	Set 4	Set 5	Set 6	Set 7	Total
Forest	4	2	3	6	7	6	8	36
Residential area	5	5	4	4	13	0	0	31
Parking lot	6	6	8	8	4	0	0	32
Urban area	5	5	5	7	8	6	8	44
Total	20	18	20	25	32	12	16	143

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Dataset

The complete dataset is available under request to dbadmin@irvs.ait.kyushu-u.ac.jp.

Data is stored using the following directory and files structure, where names in [brackets] indicate variables:

	
		LRF[Category]  # Directory with the category Category
			|
			----- [Category][PlaceId]  # Directory containing scans for the category [Category] and set [PlaceId]
					|
					|
					------- [Category][PlaceId]_[scanId].pts # Scan in PTS format
	

The following table shows the distribution of the data set. An example is provided for each place category.

SICK Fukuoka Outdoor Place Dataset
Category	depth and reflectance example images
Forest (695.1 Mbyte, 36 scans)  Forest (example) (16.9 Mbyte, 1 scan)
Residential area (440.4 Mbyte, 31 scans)  Residential area (Example) (14.8 Mbyte, 1 scan)
Parking lot (564.1 Mbyte, 32 scans)  Parking lot (Example) (20.3 Mbyte, 1 scan)
Urban area (641.9 Mbyte, 44 scans)  Urban area (Example) (21.5 Mbyte, 1 scan)