{"id":"https://openalex.org/W3020939490","doi":"https://doi.org/10.1109/access.2020.2992612","title":"CSPC-Dataset: New LiDAR Point Cloud Dataset and Benchmark for Large-Scale Scene Semantic Segmentation","display_name":"CSPC-Dataset: New LiDAR Point Cloud Dataset and Benchmark for Large-Scale Scene Semantic Segmentation","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3020939490","doi":"https://doi.org/10.1109/access.2020.2992612","mag":"3020939490"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2992612","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2992612","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09086491.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09086491.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035587843","display_name":"Guofeng Tong","orcid":"https://orcid.org/0000-0002-0701-3010"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guofeng Tong","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101398900","display_name":"Yong Li","orcid":"https://orcid.org/0000-0002-9430-0914"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Li","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-9430-0914","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013116360","display_name":"Dong Chen","orcid":"https://orcid.org/0000-0001-8118-3889"},"institutions":[{"id":"https://openalex.org/I167027274","display_name":"Nanjing Forestry University","ror":"https://ror.org/03m96p165","country_code":"CN","type":"education","lineage":["https://openalex.org/I167027274"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Chen","raw_affiliation_strings":["College of Civil Engineering, Nanjing Forestry University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-8118-3889","affiliations":[{"raw_affiliation_string":"College of Civil Engineering, Nanjing Forestry University, Nanjing, China","institution_ids":["https://openalex.org/I167027274"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100427492","display_name":"Qi Sun","orcid":"https://orcid.org/0000-0001-5153-6698"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Sun","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103087183","display_name":"Wei Cao","orcid":"https://orcid.org/0000-0003-1620-2419"},"institutions":[{"id":"https://openalex.org/I167027274","display_name":"Nanjing Forestry University","ror":"https://ror.org/03m96p165","country_code":"CN","type":"education","lineage":["https://openalex.org/I167027274"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Cao","raw_affiliation_strings":["College of Civil Engineering, Nanjing Forestry University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Civil Engineering, Nanjing Forestry University, Nanjing, China","institution_ids":["https://openalex.org/I167027274"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080215715","display_name":"Guiqiu Xiang","orcid":null},"institutions":[{"id":"https://openalex.org/I167027274","display_name":"Nanjing Forestry University","ror":"https://ror.org/03m96p165","country_code":"CN","type":"education","lineage":["https://openalex.org/I167027274"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guiqiu Xiang","raw_affiliation_strings":["College of Civil Engineering, Nanjing Forestry University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Civil Engineering, Nanjing Forestry University, Nanjing, China","institution_ids":["https://openalex.org/I167027274"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5035587843"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.0446,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.8503927,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"87695","last_page":"87718"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.9058575630187988},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7836012244224548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7764172554016113},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7634121179580688},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6164923906326294},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5901486873626709},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5538265109062195},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.508647084236145},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4137052297592163},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.37769779562950134},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.14694514870643616},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14602705836296082}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.9058575630187988},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7836012244224548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7764172554016113},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7634121179580688},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6164923906326294},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5901486873626709},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5538265109062195},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.508647084236145},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4137052297592163},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.37769779562950134},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.14694514870643616},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14602705836296082},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2992612","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2992612","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09086491.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5f30af0098c847e3a7162e5c85f7d7f7","is_oa":true,"landing_page_url":"https://doaj.org/article/5f30af0098c847e3a7162e5c85f7d7f7","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 87695-87718 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2992612","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2992612","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09086491.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8199999928474426,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3544039415","display_name":null,"funder_award_id":"61175031","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4813990130","display_name":null,"funder_award_id":"41971415","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8631330404","display_name":null,"funder_award_id":"2015BAF13B00-5","funder_id":"https://openalex.org/F4320321540","funder_display_name":"Ministry of Science and Technology of the People's Republic of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321540","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3020939490.pdf","grobid_xml":"https://content.openalex.org/works/W3020939490.grobid-xml"},"referenced_works_count":88,"referenced_works":["https://openalex.org/W116751493","https://openalex.org/W125693051","https://openalex.org/W1565402342","https://openalex.org/W1644641054","https://openalex.org/W1861492603","https://openalex.org/W1901129140","https://openalex.org/W1920022804","https://openalex.org/W1923184257","https://openalex.org/W1973644502","https://openalex.org/W1985238052","https://openalex.org/W1986522259","https://openalex.org/W2001014393","https://openalex.org/W2022394120","https://openalex.org/W2024676408","https://openalex.org/W2027710719","https://openalex.org/W2031489346","https://openalex.org/W2066813062","https://openalex.org/W2069127380","https://openalex.org/W2099609140","https://openalex.org/W2108598243","https://openalex.org/W2133916729","https://openalex.org/W2148293384","https://openalex.org/W2159213092","https://openalex.org/W2194775991","https://openalex.org/W2211722331","https://openalex.org/W2213271652","https://openalex.org/W2296228853","https://openalex.org/W2330711204","https://openalex.org/W2374569047","https://openalex.org/W2436494909","https://openalex.org/W2460657278","https://openalex.org/W2473418274","https://openalex.org/W2509984055","https://openalex.org/W2511691466","https://openalex.org/W2513955405","https://openalex.org/W2529260170","https://openalex.org/W2552796391","https://openalex.org/W2556802233","https://openalex.org/W2560609797","https://openalex.org/W2583461717","https://openalex.org/W2594519801","https://openalex.org/W2594610669","https://openalex.org/W2599022140","https://openalex.org/W2609719703","https://openalex.org/W2614059183","https://openalex.org/W2620757719","https://openalex.org/W2775216572","https://openalex.org/W2792711004","https://openalex.org/W2794870879","https://openalex.org/W2800336479","https://openalex.org/W2800466466","https://openalex.org/W2810641456","https://openalex.org/W2902302021","https://openalex.org/W2904140919","https://openalex.org/W2921362487","https://openalex.org/W2931978301","https://openalex.org/W2942498895","https://openalex.org/W2946865217","https://openalex.org/W2962731536","https://openalex.org/W2963121255","https://openalex.org/W2963281829","https://openalex.org/W2963312728","https://openalex.org/W2963509914","https://openalex.org/W2963706542","https://openalex.org/W2963719584","https://openalex.org/W2963954891","https://openalex.org/W2964257316","https://openalex.org/W2990128280","https://openalex.org/W2990613095","https://openalex.org/W3012494314","https://openalex.org/W3015648709","https://openalex.org/W4235587621","https://openalex.org/W4237458977","https://openalex.org/W6605121731","https://openalex.org/W6633727509","https://openalex.org/W6639102338","https://openalex.org/W6639824700","https://openalex.org/W6640300118","https://openalex.org/W6666899075","https://openalex.org/W6688318378","https://openalex.org/W6694176403","https://openalex.org/W6725627366","https://openalex.org/W6739778489","https://openalex.org/W6753266022","https://openalex.org/W6756751353","https://openalex.org/W6757587035","https://openalex.org/W6761590077","https://openalex.org/W6770461684"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4399442168","https://openalex.org/W2114282491"],"abstract_inverted_index":{"Large-scale":[0],"point":[1,30,50,75,106,122,173],"clouds":[2,31,123],"scanned":[3],"by":[4,92,126],"light":[5],"detection":[6],"and":[7,71,81,98,138,141,154,178,182,225,277,288],"ranging":[8],"(lidar)":[9],"sensors":[10],"provide":[11],"detailed":[12],"geometric":[13],"characteristics":[14],"of":[15,21,28,40,49,69,73,95,146,180,216,228,241,271],"scenes":[16,140,160],"due":[17],"to":[18,252],"the":[19,86,93,169,183,191,210,221,236,265],"provision":[20],"3D":[22],"structural":[23],"data.":[24],"The":[25,259],"semantic":[26,52,58,87,119,206,222],"segmentation":[27,53,59,88,223],"large-scale":[29,74,117,158],"is":[32,89,282],"a":[33,46,104,127,195,213],"crucial":[34],"step":[35],"for":[36,116,245,279],"an":[37,249],"in-depth":[38],"understanding":[39],"complex":[41,136],"scenes.":[42,188],"Of":[43],"late,":[44],"although":[45],"large":[47],"number":[48],"cloud":[51,107],"algorithms":[54],"have":[55,262],"been":[56],"proposed,":[57],"methods":[60,99,231],"are":[61,124,243],"still":[62],"far":[63],"from":[64],"being":[65],"satisfactory":[66],"in":[67],"terms":[68],"precision":[70],"accuracy":[72],"clouds.":[76],"For":[77],"machine":[78],"learning":[79,83],"(ML)":[80],"deep":[82],"(DL)":[84],"methodologies,":[85],"largely":[90],"influenced":[91],"quality":[94],"training":[96],"sets":[97],"themselves.":[100],"Therefore,":[101],"we":[102,193],"construct":[103,194],"new":[105,196],"dataset,":[108],"namely":[109],"CSPC-Dataset":[110,121],"(Complex":[111],"Scene":[112],"Point":[113],"Cloud":[114],"Dataset)":[115],"scene":[118,170],"segmentation.":[120],"acquired":[125],"wearable":[128],"laser":[129],"mobile":[130],"mapping":[131],"robot.":[132],"It":[133,156],"covers":[134],"five":[135],"urban":[137],"rural":[139],"mainly":[142],"includes":[143,199],"six":[144],"types":[145],"objects,":[147],"i.e.,":[148],"ground,":[149,273],"car,":[150,275],"building,":[151,274],"vegetation,":[152,276],"bridge,":[153],"pole.":[155],"provides":[157,220],"outdoor":[159],"with":[161,204,255],"color":[162],"information,":[163],"which":[164,198,247],"has":[165],"advantages":[166],"such":[167],"as":[168],"more":[171],"complete,":[172],"density":[174],"relatively":[175],"uniform,":[176],"diversity":[177],"complexity":[179],"objects":[181],"high":[184],"discrepancy":[185],"between":[186],"different":[187,256],"Based":[189],"on":[190,233],"CSPC-Dataset,":[192],"benchmark,":[197],"approximately":[200],"68":[201],"million":[202],"points":[203],"explicit":[205],"labels.":[207],"To":[208],"extend":[209],"dataset":[211],"into":[212],"wide":[214],"range":[215],"applications,":[217],"this":[218],"paper":[219],"results":[224,261],"comparative":[226],"analysis":[227],"7":[229],"baseline":[230],"based":[232],"CSPC-Dataset.":[234],"In":[235],"experiment":[237],"part,":[238],"three":[239],"groups":[240],"experiments":[242],"conducted":[244],"benchmarking,":[246],"offers":[248],"effective":[250],"way":[251],"make":[253],"comparisons":[254],"point-labeling":[257],"algorithms.":[258],"labeling":[260],"shown":[263],"that":[264],"highest":[266],"Intersection":[267],"over":[268],"Union":[269],"(IoU)":[270],"pole,":[272],"bridge":[278],"all":[280],"benchmarks":[281],"36.0%,":[283],"97.8%,":[284],"93.7%,":[285],"65.6%,":[286],"92.0%,":[287],"69.6%.":[289]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}