Semantic-ITC: A Frame-wise Indoor Mobile Laser Scanning Dataset and Benchmark for Semantic Segmentation
Semantic labels for indoor mobile laser scanning (MLS) frames remain largely absent from current point cloud semantic segmentation benchmarks, which mainly focus on reconstructed indoor scenes or outdoor LiDAR perception. This paper introduces Semantic-ITC, to the best of our knowledge the first public dataset and benchmark for frame-wise indoor MLS semantic segmentation. The dataset contains 52 indoor sequences, 79,108 MLS frames, and 1.23 billion labeled points collected in classrooms, corridors, meeting rooms, offices, and study areas. Labels are attached directly to measured LiDAR points in each frame using 16 semantic classes covering structural elements, furniture, room equipment, v...
| Authors | Haiyang Wu, Muhammad Affan, George Vosselman et al. |
|---|---|
| Primary category | cs.CV |
| Published | 16 September 2026 |
| Last updated at source | 16 September 2026 |
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