UrbanScene3D: A Large Scale Urban Scene Dataset and Simulator

• URL: http://arxiv.org/abs/2107.04286v1
• Date: Fri, 9 Jul 2021 07:56:46 GMT
• Title: UrbanScene3D: A Large Scale Urban Scene Dataset and Simulator
• Authors: Yilin Liu and Fuyou Xue and Hui Huang
• Abstract summary: We present a large scale urban scene dataset associated with a handy simulator based on Unreal Engine 4 and AirSim. Unlike previous works that purely based on 2D information or man-made 3D CAD models, UrbanScene3D contains both compact man-made models and detailed real-world models reconstructed by aerial images.
• Score: 13.510431691480727
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: The ability to perceive the environments in different ways is essential to robotic research. This involves the analysis of both 2D and 3D data sources. We present a large scale urban scene dataset associated with a handy simulator based on Unreal Engine 4 and AirSim, which consists of both man-made and real-world reconstruction scenes in different scales, referred to as UrbanScene3D. Unlike previous works that purely based on 2D information or man-made 3D CAD models, UrbanScene3D contains both compact man-made models and detailed real-world models reconstructed by aerial images. Each building has been manually extracted from the entire scene model and then has been assigned with a unique label, forming an instance segmentation map. The provided 3D ground-truth textured models with instance segmentation labels in UrbanScene3D allow users to obtain all kinds of data they would like to have: instance segmentation map, depth map in arbitrary resolution, 3D point cloud/mesh in both visible and invisible places, etc. In addition, with the help of AirSim, users can also simulate the robots (cars/drones)to test a variety of autonomous tasks in the proposed city environment. Please refer to our paper and website(https://vcc.tech/UrbanScene3D/) for further details and applications.

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