Cirrus: A Long-range Bi-pattern LiDAR Dataset
This dataset addresses the problem of limited long-range LiDAR data for autonomous driving, particularly for highway scenarios, benefiting researchers in robotics and computer vision.
This paper introduces Cirrus, a new public dataset for autonomous driving that features long-range (250-meter) bi-pattern LiDAR data and high-resolution video. It includes exhaustive annotations for eight object categories across the full effective range, enabling studies on LiDAR model adaptation across different ranges, scanning patterns, and sensor devices.
In this paper, we introduce Cirrus, a new long-range bi-pattern LiDAR public dataset for autonomous driving tasks such as 3D object detection, critical to highway driving and timely decision making. Our platform is equipped with a high-resolution video camera and a pair of LiDAR sensors with a 250-meter effective range, which is significantly longer than existing public datasets. We record paired point clouds simultaneously using both Gaussian and uniform scanning patterns. Point density varies significantly across such a long range, and different scanning patterns further diversify object representation in LiDAR. In Cirrus, eight categories of objects are exhaustively annotated in the LiDAR point clouds for the entire effective range. To illustrate the kind of studies supported by this new dataset, we introduce LiDAR model adaptation across different ranges, scanning patterns, and sensor devices. Promising results show the great potential of this new dataset to the robotics and computer vision communities.