Datasets:
ArXiv:
License:
File size: 2,165 Bytes
b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 bf92199 b2751a7 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 | ---
license: cc-by-4.0
---
# SuperMap: CMU Gates and Scafie annotations
Point clouds and pointwise semantic labels for the [SuperMap benchmark](https://arxiv.org/abs/2608.22896). Bounding-box ground truth and evaluation tools are not included.
## Files
| Archive | Sequences |
|---|---|
| `gates_0511.zip` | Static first loop, change loop 1, change loop 2 |
| `scafie_0815.zip` | Indoor/outdoor |
Extract the ZIPs to access each sequence's files:
- `point_cloud.txt`: one `X Y Z R G B` point per line.
- `point_cloud.zlib`: compressed labels, one unsigned byte per point in the same row order.
- `label_map.json`: class names and colors for that sequence.
`manifest.json` provides archive checksums and file lists.
## Load labels
```python
import zlib
from pathlib import Path
labels = zlib.decompress(Path("point_cloud.zlib").read_bytes())
# labels[i] corresponds to row i of point_cloud.txt (starting at 0).
```
The Gates archive also includes `scripts/visualize_worker_response.py` (requires NumPy). It writes a point-cloud PLY with label 0 in red and other points in white.
## Notes
- Preserve point order and use each sequence's own class map.
- Class mappings, the meaning of label `255`, coordinate units/frames, and the six changed object identities have not been verified for this release. No train/validation/test split is specified.
- In Scafie, one ladder/staircase and one fire extinguisher were labeled as TRASHCAN.
## Citation
Please cite the SuperMap paper:
```bibtex
@misc{zhao2026supermap,
title={SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation},
author={Shibo Zhao and Guofei Chen and Honghao Zhu and Zhiheng Li and Changwei Yao and Nader Zantout and Seungchan Kim and Wenshan Wang and Ji Zhang and Sebastian Scherer},
year={2026},
eprint={2608.22896},
archivePrefix={arXiv},
primaryClass={cs.RO},
doi={10.48550/arXiv.2608.22896},
url={https://arxiv.org/abs/2608.22896}
}
```
## License
[CC BY 4.0](https://creativecommons.org/licenses/by/4.0/): reuse and modification, including commercial use, are permitted with attribution, a license link, and an indication of changes. See `LICENSE`.
|