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<p>High-quality 3D perception is essential for autonomous vehicles, urban analytics, and the development of intelligent transportation systems. However, existing LiDAR datasets are limited in their representation of fine-grained roadway and pedestrian infrastructure, and geographic diversity, particularly for environments common in North American cities. This paper introduces YEG3D, a large-scale, point-wise annotated mobile laser scanning (MLS) dataset comprising more than 682 million points collected across 14 km of urban roadway in Edmonton, Canada. The dataset includes a fine-grained taxonomy of 18 semantic classes, with an emphasis on detailed pedestrian, cyclist, and roadway infrastructure rarely distinguished in existing benchmarks. We additionally present a comprehensive baseline evaluation using five state-of-the-art semantic segmentation models, including PointNet++, DGCNN, KPConv, KPConvX, and Point Transformer v3. Among the evaluated models, Point Transformer V3 achieves the strongest overall performance, attaining 81.8% overall accuracy, 46.2% mean Intersection over Union (mIoU), and 56.8% mean F1 score, outperforming all other architectures across both global and class-level metrics. Detailed confusion matrix analysis reveals that while large structural classes are segmented reliably, fine-grained elements such as markings, bike lanes, and crosswalks remain challenging due to sparsity, occlusion, and class imbalance. YEG3D provides a new foundation for advancing research in 3D semantic segmentation, urban perception, and infrastructure-aware autonomous systems, and will be expanded in future releases to broaden its geographic and semantic coverage.</p>

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A Canadian Benchmark LiDAR Dataset for Urban Infrastructure and 3D Scene Understanding

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年7月7日

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  • Amr M. Sakr,
  • Fiseha Birhane,
  • Ehab K. Mahmoud,
  • Karim El-Basyouny

摘要

High-quality 3D perception is essential for autonomous vehicles, urban analytics, and the development of intelligent transportation systems. However, existing LiDAR datasets are limited in their representation of fine-grained roadway and pedestrian infrastructure, and geographic diversity, particularly for environments common in North American cities. This paper introduces YEG3D, a large-scale, point-wise annotated mobile laser scanning (MLS) dataset comprising more than 682 million points collected across 14 km of urban roadway in Edmonton, Canada. The dataset includes a fine-grained taxonomy of 18 semantic classes, with an emphasis on detailed pedestrian, cyclist, and roadway infrastructure rarely distinguished in existing benchmarks. We additionally present a comprehensive baseline evaluation using five state-of-the-art semantic segmentation models, including PointNet++, DGCNN, KPConv, KPConvX, and Point Transformer v3. Among the evaluated models, Point Transformer V3 achieves the strongest overall performance, attaining 81.8% overall accuracy, 46.2% mean Intersection over Union (mIoU), and 56.8% mean F1 score, outperforming all other architectures across both global and class-level metrics. Detailed confusion matrix analysis reveals that while large structural classes are segmented reliably, fine-grained elements such as markings, bike lanes, and crosswalks remain challenging due to sparsity, occlusion, and class imbalance. YEG3D provides a new foundation for advancing research in 3D semantic segmentation, urban perception, and infrastructure-aware autonomous systems, and will be expanded in future releases to broaden its geographic and semantic coverage.