Outdoor Dataset for Place Categorization

Sparse

Description

This dataset contains a total of 34,200 3D panoramic scans obtained using a Velodyne HDL-32E laser scanner sensor mounted on top of a car. This sensor contains a vertical field of view of 41.3 degrees ranging from 10.67 degrees to −30.67 degrees and a horizontal field of view of 360 degrees. Each panoramic 3D point cloud has a resolution of 32 × 2166 points, with horizontal angular resolution of 0.17 degrees and vertical angle resolution of 1.33 degrees. Scans were acquired at 2 Hz.

In addition, the dataset contains GPS information obtained by a Garmin GPS 18x LVC. This information is stored in NMEA 0183 format at a frequency of 2 Hz. GPS data are synchronized with point clouds using timestamps.

Finally, the dataset also includes panoramic color images captured using a Kodak PIXPRO SP360 camera. Each color image covers 360 degrees and has a resolution of 5134x1757 pixels. Images were acquired 6∼7 Hz. However, color images are not synchronized with point clod data and were used as references only.

Sensors were situated on top a car as shown in the figure.



Data format

Point Clouds

Each panoramic point cloud is stored using the Point Cloud Data (PCD) file format from the Point Cloud Library. PCD files can be converted into PTX format using the following provided software that uses PCL and ROS:
pcd2ptx(velodyne).zip

GPS

GPS data is stored using the NMEA sentences ($GPRMC). For example: 

		seq: 17760
		stamp: 
		secs: 1447644393
		nsecs: 178497076
		frame_id: velodyne $GPRMC,032605,A,3338.8718,N,13012.4973,E,009.9,213.9

Images

Images are store in BMP format.


Place Categories

The 3D panoramic scans were obtained at six different place categories in Fukuoka city, Japan. The six categories include indoor parking, outdoor parking, coast, forest, residential area, and urban area, as shown in the map.



Each category contains 10 sets each representing a trajectory. Each set was obtained in a different place inside the same category. The following table summarizes the data:


Number of panoramic scans
Place Set 1 Set 2 Set 3 Set 4 Set 5 Set 6 Set 7 Set 8 Set 9 Set 10 Total
Indoor Parking 520 357 274 873 583 343 466 592 344 428 4780
Outdoor Parking 874 579 388 370 477 536 581 563 460 617 5445
Coast 511 254 571 221 314 376 872 506 386 287 4298
Forest 440 824 980 707 730 720 439 311 797 531 6479
Residential 674 787 667 724 563 973 717 720 977 662 7464
Urban 490 572 587 487 410 566 712 565 606 739 5734
Total 3509 3373 3467 3382 3077 3514 3787 3257 3570 3264 34200


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: 

	
		[Category]  # Directory 
			|
			---- gps_data  # Directory containing GPS data
			|		|
			|		|
			|		------ [Category]_[set]_[frame]_gps.txt	 # GPS data
			|
			|
			----- img_data  # Directory containing images 
			|		|
			|		|
			|		------ [Category]_[set]_[frame]_[timestamp].bmp	 # Image data
			|                                                 
			|
			----- pcd_data  # Directory containing point clouds
					|
					|
					------ [Category]_[set]_[frame].pcd	 # Point cloud data

The following table shows the distribution of the data set. An example is provided for each place category. Please, contact dbadmin@irvs.ait.kyushu-u.ac.jp to receive instructions to download the full dataset.

Sparse Multi-modal Panoramic 3D Outdoor Dataset
Category
 RGB image (reference) (click to Youtube video) 3D point cloud (click to enlarge) 3D movie (link to Youtube video)
Indoor parking
Example file: ParkingInVelodyne.zip (Example: Size 2 Mbytes)
Data size: 17.7 Gbyte, 4780 scans
Map of places
Outdoor parking
Example file: ParkingOutVelodyne.zip (Example: Size 2 Mbytes)
Data size: 23.4 Gbyte, 5445 scans
Map of places
Coast area
Example file: CoastVelodyne.zip (Example: Size 2 Mbytes)
Data size: 18.3 Gbyte, 4298 scans
Map of places
Forest area
Example file: ForestVelodyne.zip (Example: Size 2 Mbytes)
Data size: 32.2 Gbyte, 6479 scans
Map of places
Residential area
Example file: ResidentialVelodyne.zip (Example: Size 2 Mbytes)
Data size: 31.4 Gbyte, 7464 scans
Map of places
Urban area
Example file: UrbanVelodyne.zip (Example: Size 2 Mbytes)
Data size: 24.0 Gbyte, 5734 scans
Map of places