2020/12/05 by Ze Wang, Wang, Ze, Sihao Ding +17
Computer Science · Engineering · Environmental Science · #Advanced Neural Network Applications #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Remote Sensing and LiDAR Applications #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2012.02938
openalex publication_date 2020/12/05 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.