WHU-Urban3D: An urban scene LiDAR point cloud dataset for semantic instance segmentation

With the rapid advancement of 3D sensors, there is an increasing demand for 3D scene understanding and an increasing number of 3D deep learning algorithms have been proposed. However, a large-scale and richly annotated 3D point cloud dataset is critical to understanding complicated road and urban scenes. Motivated by the need to bridge the gap between the rising demand for 3D urban scene understanding and limited LiDAR point cloud datasets, this paper proposes a richly annotated WHU-Urban3D dataset and an effective method for semantic instance segmentation. WHU-Urban3D stands out from existing datasets due to its distinctive features: (1) extensive coverage of both Airborne Laser Scanning and Mobile Laser Scanning point clouds, along with panoramic images; (2) containing large-scale road and urban scenes in different cities (over 3.2×10⁶m² area), with richly point-wise semantic instance labels (over 200 million points); (3) inclusion of particular attributes (e.g., reflected intensity, number of returns) in addition to 3D coordinates. This paper also provides the performance of several representative baseline methods and outlines potential future works and challenges for fully exploiting this dataset. The WHU-Urban3D dataset is publicly accessible at https://whu3d.com/.