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

2021-02-24 01:13:17
Jean-Luc Déziel, Pierre Merriaux, Francis Tremblay, Dave Lessard, Dominique Plourde, Julien Stanguennec, Pierre Goulet, Pierre Olivier
arXiv_AI
       
Abstract

Leddar PixSet is a new publicly available dataset (this http URL) 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.

Abstract (translated)

URL

https://arxiv.org/abs/2102.12010

PDF

https://arxiv.org/pdf/2102.12010.pdf

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