PixSet : An Opportunity for 3D Computer Vision to Go Beyond Point Clouds With a Full-Waveform LiDAR Dataset
This dataset addresses the need for full-waveform LiDAR data in autonomous driving research, though it is incremental as it extends existing airborne methods to a new domain.
The authors introduced PixSet, a public dataset for autonomous driving that includes full-waveform LiDAR data, which has been shown to improve perception in airborne applications but is untested for terrestrial use, containing approximately 29k frames with manual 3D bounding box annotations.
Leddar PixSet is a new publicly available dataset (dataset.leddartech.com) 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.