Multi-modal panoramic 3D outdoor datasets for place categorization

Hojung Jung, Yuki Oto, Oscar M. Mozos, Yumi Iwashita, Ryo Kurazume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

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).

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4545-4550
Number of pages6
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Jung, H., Oto, Y., Mozos, O. M., Iwashita, Y., & Kurazume, R. (2016). Multi-modal panoramic 3D outdoor datasets for place categorization. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4545-4550). [7759669] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759669