LiDAR-MOS (LiDAR-based Moving Object Segmentation)

Tasks.

In moving object segmentation of point cloud sequences, one has to provide motion labels for each point of the test sequences 11-21. Therefore, the input to all evaluated methods is a list of coordinates of the three-dimensional points along with their remission, i.e., the strength of the reflected laser beam which depends on the properties of the surface that was hit. Each method should then output a label for each point of a scan, i.e., one full turn of the rotating LiDAR sensor. Here, we only distinguish between static and moving object classes.

Metric

To assess the labeling performance, we rely on the commonly applied Jaccard Index or intersection-over-union (mIoU) metric over moving parts of the environment. We map all moving-x classes of the original SemanticKITTI semantic segmentation benchmark to a single moving object class.

Citation

Citation. More information on the task and the metric, you can find in our publication related to the task: @article{chen2021ral, title={{Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data}}, author={X. Chen and S. Li and B. Mersch and L. Wiesmann and J. Gall and J. Behley and C. Stachniss}, year={2021}, journal={IEEE Robotics and Automation Letters(RA-L)}, doi = {10.1109/LRA.2021.3093567} }