ShotcreteDepth:用于喷射混凝土施工环境中鲁棒机器人深度感知的双模态数据集
阅读原文· arxiv.orgShotcreteDepth是一个来自建筑领域的双模态数据集,包含立体RGB图像与LiDAR点云,采集于主动喷射混凝土施工过程及一般建筑环境。数据在真实恶劣条件(高浊度、低光照)下获取,导致传感器观测不完整且含噪。该数据集由11,252个时间同步样本组成,其中220个带有标注用于评估。同时发布一套轻量级LiDAR点云标注工具。数据集支持在贴近工业操作复杂度的场景中进行立体匹配、深度补全与深度估计研究。
We introduce ShotcreteDepth, a bi-modal dataset from the construction domain that captures both an active shotcreting process and general construction environments. The dataset comprises stereo RGB imagery and LiDAR point clouds acquired under harsh real-world conditions, including high turbidity and poor illumination. Such conditions adversely affect sensor measurements, leading to incomplete and noisy observations that pose significant challenges for perception systems in autonomous applications. Alongside the dataset, we release a lightweight annotation tool designed for time-efficient labeling of LiDAR point clouds. ShotcreteDepth consists of 11,252 temporally synchronized data samples, of which 220 are annotated for evaluation purposes. The dataset supports research in stereo matching, depth completion, and depth estimation under conditions that closely reflect the operational complexities found in industrial settings. Project repository: https://github.com/dtu-pas/shotcrete-depth