Cirrus: A Long-range Bi-pattern LiDAR Dataset

Abstract

In this paper, we introduce Cirrus, a new longrange bi-pattern LiDAR public dataset for autonomous driving tasks such as 3D object detection, critical to highway driving and timely decision making. Our platform is equipped with a high-resolution video camera and a pair of LiDAR sensors with a 250-meter effective range, which is significantly longer than existing public datasets. We record paired point clouds simultaneously using both Gaussian and uniform scanning patterns. Point density varies significantly across such a long range, and different scanning patterns further diversify object representation in LiDAR. In Cirrus, eight categories of objects are exhaustively annotated in the LiDAR point clouds for the entire effective range. To illustrate the kind of studies supported by this new dataset, we introduce LiDAR model adaptation across different ranges, scanning patterns, and sensor devices.Promising results show the great potential of this new dataset to the robotics and computer vision communities.

PandaSet: Advanced Sensor Suite Dataset for Autonomous Driving

“…Waymo's data collection vehicle was equipped with a 64-channel spinning LiDAR, but the point cloud provided is only within 75 meters. The Cirrus dataset[20] launched in 2020 was equipped with a pair of longrange bi-pattern LiDARs with a 250-meter effective range in the front-facing direction. However, Cirrus did not employ any 360 • FOV sensor, limiting its perception range to only the front-facing view.…”