PixSet : An Opportunity for 3D Computer Vision to Go Beyond Point Clouds With a Full-Waveform LiDAR Dataset

TL;DR

PixSet introduces a comprehensive terrestrial LiDAR dataset with full-waveform data, enabling advanced 3D perception research for autonomous driving beyond traditional point cloud methods.

Contribution

The paper presents a new public dataset with full-waveform LiDAR data for autonomous driving, demonstrating its potential to enhance perception algorithms in terrestrial environments.

Findings

Full-waveform data improves perception accuracy.

Dataset contains 29k frames with detailed annotations.

Enables new research in 3D vision for autonomous vehicles.

Abstract

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.