|Description (include details on usage, files and paper references)||Paris-rue-Madame dataset contains 3D Mobile Laser Scanning (MLS) data from rue Madame, a street in the 6th Parisian district (France). The test zone contains approximatively a 160 m long street section between rue Mézières and rue Vaugirard. The acquisition was made on February 8, 2013 at 13:30 Universal Time (UT).
This database has been developed in the framework of TerraMobilita project. It has been acquired by the LARA2-3D prototype, a MLS system from the Robotics laboratory (CAOR) at MINES ParisTech, Pris, France. Annotation has been carried out in a manual assisted way by the Center for mathematical morphology (CMM) at MINES ParisTech, Fontainebleau, France.
The dataset contains two PLY files with 10 million points each. Each file contains a list of (X, Y, Z, reflectance, label, class) points, where XYZ correspond to geo-referenced (E,N,U) coordinates in Lambert 93 and altitude IGN1969 (grid RAF09) reference system, reflectance is the laser intensity, label is the object identifier obtained after segmentation and class determines the object category. An offset has been subtracted from the XY coordinates with the aim of increasing data precision: X0 = 650976 m and Y0 = 6861466 m, respectively. The available files are GT_Madame1_2.ply and GT_Madame1_3.ply, both of them coded as binary big endian version 1.
In this database, the entire 3D point cloud has been segmented and classified, i.e. each point contains a label and a class. Thus, point-wise evaluation of detection-segmentation-classification methods becomes possible.
A. Serna, B. Marcotegui, F. Goulette and J.-E. Deschaud "Paris-rue-Madame database: a 3D mobile laser scanner dataset for benchmarking urban detection, segmentation and classification methods". ICPRAM 2014