metadata
license: mit
tags:
- LiDAR
- Point Cloud
- Simulated
- CARLA-based
pretty_name: CPL-Bench
language:
- en
CPL-Bench Dataset
Overview
CPL-Bench introduces a new unified benchmark for cross-platform LiDAR semantic segmentation, addressing the lack of dedicated benchmarks across heterogeneous acquisition platforms. It provides town-scale MLS, ULS, and ALS point clouds from shared CARLA scenes with consistent semantics and annotations, enabling controlled cross-platform evaluation.
The dataset provides two variants:
- FullDataset — complete version for large-scale experiments (CPL-Bench/full)
- Lightweight Subset — only xyz & label (CPL-Bench/lightweight)
Dataset Structure
CPL-Bench/
│
├── full/
│ └── ...
│
├── lightweight/
│ ├── CPL-ALS_Reduced/
│ │ ├── Town01ALS.ply
│ │ ├── ...
│ │ └── Town10ALS.ply
│ │
│ ├── CPL-ULS_Reduced/
│ │ ├── ...
│ │ └── Town10ULS.ply
│ │
│ └── CPL-MLS_Reduced/
│ ├── ...
│ └── Town10MLS.ply
│
├── CPL_ColorMap.xml
│
├── class_mapping.yaml
│
└── README.md