TY - GEN
T1 - Multi-modal panoramic 3D outdoor datasets for place categorization
AU - Jung, Hojung
AU - Oto, Yuki
AU - Mozos, Oscar M.
AU - Iwashita, Yumi
AU - Kurazume, Ryo
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - We present two multi-modal panoramic 3D outdoor (MPO) datasets for semantic place categorization with six categories: forest, coast, residential area, urban area and indoor/outdoor parking lot. The first dataset consists of 650 static panoramic scans of dense (9,000,000 points) 3D color and reflectance point clouds obtained using a FARO laser scanner with synchronized color images. The second dataset consists of 34,200 real-time panoramic scans of sparse (70,000 points) 3D reflectance point clouds obtained using a Velodyne laser scanner while driving a car. The datasets were obtained in the city of Fukuoka, Japan and are publicly available in [1], [2]. In addition, we compare several approaches for semantic place categorization with best results of 96.42% (dense) and 89.67% (sparse).
AB - We present two multi-modal panoramic 3D outdoor (MPO) datasets for semantic place categorization with six categories: forest, coast, residential area, urban area and indoor/outdoor parking lot. The first dataset consists of 650 static panoramic scans of dense (9,000,000 points) 3D color and reflectance point clouds obtained using a FARO laser scanner with synchronized color images. The second dataset consists of 34,200 real-time panoramic scans of sparse (70,000 points) 3D reflectance point clouds obtained using a Velodyne laser scanner while driving a car. The datasets were obtained in the city of Fukuoka, Japan and are publicly available in [1], [2]. In addition, we compare several approaches for semantic place categorization with best results of 96.42% (dense) and 89.67% (sparse).
UR - http://www.scopus.com/inward/record.url?scp=85006365104&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2016.7759669
DO - 10.1109/IROS.2016.7759669
M3 - Conference contribution
AN - SCOPUS:85006365104
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4545
EP - 4550
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -