HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors

• Main Authors: Lim, Hyungtae, Jang, Seoyeon, Mersch, Benedikt, Behley, Jens, Myung, Hyun, Stachniss, Cyrill
• Format: Journal Article
• Language: English
• Published: 12-08-2024
• Subjects: Computer Science - Computer Vision and Pattern Recognition; Computer Science - Robotics
• DOI: 10.48550/arxiv.2408.06328

Moving object segmentation (MOS) using a 3D light detection and ranging
(LiDAR) sensor is crucial for scene understanding and identification of moving
objects. Despite the availability of various types of 3D LiDAR sensors in the
market, MOS research still predominantly focuses on 3D point clouds from
mechanically spinning omnidirectional LiDAR sensors. Thus, we are, for example,
lacking a dataset with MOS labels for point clouds from solid-state LiDAR
sensors which have irregular scanning patterns. In this paper, we present a
labeled dataset, called \textit{HeLiMOS}, that enables to test MOS approaches
on four heterogeneous LiDAR sensors, including two solid-state LiDAR sensors.
Furthermore, we introduce a novel automatic labeling method to substantially
reduce the labeling effort required from human annotators. To this end, our
framework exploits an instance-aware static map building approach and
tracking-based false label filtering. Finally, we provide experimental results
regarding the performance of commonly used state-of-the-art MOS approaches on
HeLiMOS that suggest a new direction for a sensor-agnostic MOS, which generally
works regardless of the type of LiDAR sensors used to capture 3D point clouds.
Our dataset is available at https://sites.google.com/view/helimos.