NPM3D dataset with instance labels used in paper "Toward Accurate Instance Segmentation in Large-scale LiDAR Point Clouds"

<p>NPM3D (https://npm3d.fr/paris-carla-3d) consists of mobile laser scanning (MLS) point clouds collected in four different regions in the French cities of Paris and Lille, where each point has been annotated with two labels: one that assigns it to one out of 10 semantic categories and another one that assigns it to an object instance. When inspecting the data, we found 9 cases where multiple tree instances had not been separated correctly (i.e., they had the same ground truth instance label). These cases were manually corrected using the CloudCompare software (https://www.cloudcompare.org), and 35 individual tree instances were obtained. Our variant of the dataset with 10 semantic categories and enhanced instance labels is publicly available.</p>