Paris-rue-Madame Database

This paper describes a publicly available 3D database from the rue Madame, a street in the 6th Parisian district. Data have been acquired by the Mobile Laser Scanning (MLS) system L3D2 and correspond to a 160 m long street section. Annotation has been carried out in a manual-assisted way. An initial annotation is obtained using an automatic segmentation algorithm. Then, a manual refinement is done and a label is assigned to each segmented object. Finally, a class is also manually assigned to each object. Available classes include facades, ground, cars, motorcycles, pedestrians, traffic signs, among others. The result is a list of (X, Y, Z, reflectance, label, class) points. Our aim is to offer, to the scientific community, a 3D manual-labeled dataset for detection-segmentation-classification benchmarking. With respect to other databases available in the state of the art, this dataset has been exhaustively annotated in order to include all available objects and to allow point-wise comparison.