Datasets used in some recent publications.
If we used publically available datasets by other researchers, we redirect to their page. We also report the scans used in the experiments in the corresponding paper. If you're using data from these authors or annotations, you may cite their paper.

Creative Commons License Our datasets and labels are licensed under a Creative Commons Attribution-Noncommercial-Share Alike 3.0 Unported License. The datasets are distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

Freiburg Dataset

Labels
Ground(Street, Sidewalks), Building(Facade, Door, Window), Vegetation(Foliage, Bush, Lawn), Pole(Utility Poles, Trunks)
References
B. Steder, G. Grisetti, W. Burgard. Robust Place Recognition for 3D Range Data based on Point Features, ICRA, 2010.
J. Behley, V. Steinhage, A.B. Cremers. Performance of Histogram Descriptors for the Classification of 3D Laser Range Data in Urban Environments, ICRA, 2012.

Pittsburgh Dataset

Labels
Ground, Vehicle, Building, Vegetation, Pole, Wire
References
D. Munoz, J. A. Bagnell, N. Vandapel, M. Hebert. Contextual Classification with Functional Max-Margin Markov Networks, CVPR, 2009.

Wachtberg Dataset

Labels
Ground, Vehicle, Building, Vegetation, Pole
References
J. Behley, V. Steinhage, A.B. Cremers. Performance of Histogram Descriptors for the Classification of 3D Laser Range Data in Urban Environments, ICRA, 2012.