List of Datasets

Handheld

3DRef

Reflection detection and semantic mapping

Three aligned handheld indoor sequences with multi-return lidar, RGB masks and reflective-surface meshes.

Metadata: Complete Metadata source documented Released 2024

Primary places to inspect, download, read about, or reproduce the dataset.

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Handheld
Environment
Indoor
Data origin
Real-world
Sensor count
4
Ground truth
Available
Calibration
Parameters Only
Annotations
Available

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

1 reported

IMUs

Not reported

GNSS

Not reported

LiDAR

3 reported

Radar

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
6DoF LiDAR SLAM MA-LIO Not reported Not reported Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Reference notes
Released lidar pose files from the multiple-lidar inertial estimation pipeline; not an independent survey trajectory.
Other Manual annotation Cleaned Polar mesh and ray casting Not reported Not reported Full Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Reference notes
Reflective-surface semantic labels propagated from manually edited/labeled reconstructed meshes onto supplied benchmark scans.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Factory Polar calibration, FARO-assisted initial inter-lidar alignment and online MA-LIO refinement.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Three indoor recordings combine three different LiDAR return configurations and one dual-head panoramic camera system.

MA-LIO pose files reuse input sensing, while semantic masks are propagated from edited reconstructed meshes. Neither is an independently surveyed platform trajectory.

Mounted inertial hardware alone does not establish a separately released raw IMU stream. Complete output image dimensions, achieved reference error and raw calibration sessions remain unknown.

Point-return throughput and device specifications are not scan rates. Semantic label sets differ by product and retain unlabeled values.

Cameras

Camera 1

Model
Insta360 ONE RS 1-Inch 360 Edition
Setup
Multi Camera
Count
1
Effective cameras
1
Modality
Rgb
Resolution
Not reported
Rate
Not reported
Shutter
Rolling
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
One dual-head system. Hardware fisheye images are 3072×3072; released benchmark images are pinhole-undistorted, exact output resolution not established.

IMUs

Not reported

GNSS

Not reported

LiDAR

Ouster OS0-128 REV6

Model or name
Ouster OS0-128 REV6
Count
1
Dimensions
3
Rate
Not reported
Channels
128
Range
Not reported

Livox Avia

Model or name
Livox Avia
Count
1
Dimensions
3
Rate
Not reported
Channels
Not reported
Range
Not reported

Hesai Pandar QT64

Model or name
Hesai Pandar QT64
Count
1
Dimensions
3
Rate
Not reported
Channels
64
Range
Not reported

Radar

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Available
Format
SemanticKITTI-style XYZI/XYZIR; RGB image masks
Class count
Not reported
Semantic segmentation Available
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
zhao20243dref

BibTeX

@misc{zhao20243dref,
  author = {Xiting Zhao and Sören Schwertfeger},
  title = {3DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Data},
  year = {2024},
  url = {https://arxiv.org/abs/2403.06538v1}
}

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