| --- |
| 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 |
| ``` |
| ## Citation |
| |
