PixSet : An Opportunity for 3D Computer Vision to Go Beyond Point Clouds With a Full-Waveform LiDAR Dataset

Jean-Luc Déziel; Pierre Merriaux; Francis Tremblay; Dave Lessard; Dominique Plourde; Julien Stanguennec; Pierre Goulet; Pierre Olivier

PixSet : An Opportunity for 3D Computer Vision to Go Beyond Point Clouds With a Full-Waveform LiDAR Dataset

Robotics 2021-07-06 v2 Artificial Intelligence Computer Vision and Pattern Recognition

Authors: Jean-Luc Déziel , Pierre Merriaux , Francis Tremblay , Dave Lessard , Dominique Plourde , Julien Stanguennec , Pierre Goulet , Pierre Olivier

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Abstract

Leddar PixSet is a new publicly available dataset (dataset.leddartech.com) for autonomous driving research and development. One key novelty of this dataset is the presence of full-waveform data from the Leddar Pixell sensor, a solid-state flash LiDAR. Full-waveform data has been shown to improve the performance of perception algorithms in airborne applications but is yet to be demonstrated for terrestrial applications such as autonomous driving. The PixSet dataset contains approximately 29k frames from 97 sequences recorded in high-density urban areas, using a set of various sensors (cameras, LiDARs, radar, IMU, etc.) Each frame has been manually annotated with 3D bounding boxes.

Keywords

autonomous driving full-waveform lidar dataset 3d bounding boxes solid-state flash lidar perception

Cite

@article{arxiv.2102.12010,
  title  = {PixSet : An Opportunity for 3D Computer Vision to Go Beyond Point Clouds With a Full-Waveform LiDAR Dataset},
  author = {Jean-Luc Déziel and Pierre Merriaux and Francis Tremblay and Dave Lessard and Dominique Plourde and Julien Stanguennec and Pierre Goulet and Pierre Olivier},
  journal= {arXiv preprint arXiv:2102.12010},
  year   = {2021}
}

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7 pages, 9 figures

PixSet : An Opportunity for 3D Computer Vision to Go Beyond Point Clouds With a Full-Waveform LiDAR Dataset

Abstract

Keywords

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