三维点云数据集

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3D Point Clouds

• Autodesk Research - Digital 210 King
  Sample scan and image data of the Autodesk Research office.
• Autonomous Systems Lab (ETH)
  Laser and Kinect data from structured and unstructured environments. This group has a list of useful related links as well as a similar set of links to data.
• Canadian Planetary Emulation Terrain 3D Mapping Dataset
  Laser scans of unstructured terrains from rover platforms. Includes Matlab code for data parsing.
• Leica Geosystems (projected data)
  Example databases of laser scan data.
• Point Cloud Classification (Lomonosov Moscow State university)
  Aerial lidar data with class labeling.
• Pointools
  Sample data sets for pointools evaluation.
• Pseudo-Simulated LiDAR
  Pseudo-simulated lidar data created for change detection experiments.
• Robotic 3D Scan Repository
  Registered 3D scans of indoor and outdoor environments. Some data sets include thermal and color information.
• SmartMultiMedia LiDAR Software and Point Cloud Sample Data
  Sample LiDAR scan data sets, including links to commercial point cloud software.
  

Localization and Mapping

• KITTI Vision Benchmark Suite
  Mono and stereo camera data, including calibration, odometry and more.
• MIT DARPA Grand Challenge Team
  Camera, lidar and log files, including source code for parsing logs.
• NAVVIS Indoor Dataset
  LIDAR scans of the interiors of the corridors of the TU Munich main campus, acquired slice-by-slice by a mapping trolley and aggregated into a big point cloud. The site also includes registered imagery, camera calibration, occupancy grid maps and more.
• The New College Vision and Laser Data Set 
  Stereo and omni-directional imagery, lidar and pose data.
• PeRL: Ford Campus Vision and Lidar Dataset
  Camera and lidar data, including source code and more.
• Radish: The Robotics Data Set Repository
  Odometry, laser and sonar data, including log files and generated maps.
• SLAM-related robotics data sets (University of Freiburg)
  Compilation of 2D maps in the form of raw and correct log files.
  

Models

• The Digital Michelangelo Project
  Data is free but must be ordered as it is quite large.
• Large Geometric Models Archive (Georgia Tech)
  Collection of standard models.
• Stanford 3D Scanning Repository
  Collection of standard models (bunny, dragon, etc) including range data and zippered reconstructions.
  

Heightmaps (DEM and similar)

• ASTER, JPL
  Global DEM.
• GNet
  Large aerial lidar data set.
• ISPRS Test On Extracting DEMs From Point Clouds
  First and last pulse laser data from overhead scans of urban and natural environments.
• http://www.lidardata.com/
  Large database of aerial lidar. Data sets must be ordered and may not be free.
• National Land Survey of Finland
  Elevation and similar data of Finland.
• OpenTopography
  Aerial lidar data.
• USGS DEMs, geocomm
  Data sets must be ordered and may not be free.
• USGS Historic DEMs
  Mount St. Helens DEMs before and after 1980 eruption. Possibly other free data sets.
• USGS Seamless Data Warehouse
  Large database of topographic data from USGS and NGA. Data sets must be ordered and may not be free.
  

Face Scans

• Cyberware Head & Face Color 3D Scanner
  Sample head and face data including original data, merged ply files and uv/color data.
  

Volume Data (MRI and similar)

• The Chapel Hill Volume Rendering Test Data Set
  Head, knee and cadaver MRI data.
  

Object Detection

• B3DO: Berkeley 3D Object Dataset
  Indoor object detection data sets.
• NYU Depth Datasets
  Indoor object detection data sets.
• RGB-D Object Dataset
  Indoor object detection data sets with many common household objects.
• Semantic Database of 3D Objects (Technische Universität München)
  Stereo camera and lidar scans of typical household objects.
  

Misc/Variety

• Computer Vision Group (Technische Universität München)
  Kinect RGB-D data for visual SLAM, multiview 3D reconstruction data and other image based data sets.
• Virtual Terrain Project
  3D LiDAR data, topographic and other data. This site also has many useful links.