Semantic-ITC: A Frame-wise Indoor Mobile Laser Scanning Dataset and Benchmark for Semantic Segmentation

arXiv:2609.18493 · cs.CV · Submitted 2026-09-16 · Read on arXiv

cs.CV

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/hku-mars/LIV_handhold_2

Project page: https://haiyang2022.github.io/Semantic-ITC

Terminology

• Benchmark — 37× in this paper · explained in 2 episodes
• Point Clouds — 31× in this paper · explained in 2 episodes
• Calibration — 7× in this paper · explained in 7 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Consistency — 4× in this paper · explained in 3 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Attention Mechanism — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Pseudo-labels — 1× in this paper · explained in 2 episodes

Sources

• 3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera
• Joint 2D-3D-Semantic Data for Indoor Scene Understanding
• HARP-NeXt: High-Speed and Accurate Range-Point Fusion Network for 3D LiDAR Semantic Segmentation
• Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization
• 3DSES: an indoor Lidar point cloud segmentation dataset with real and pseudo-labels from a 3D model
• DINOv3
• Toronto-3D: A Large-scale Mobile LiDAR Dataset for Semantic Segmentation of Urban Roadways
• Feasibility of Indoor Frame-Wise Lidar Semantic Segmentation via Distillation from Visual Foundation Model
• Cylinder3D: An Effective 3D Framework for Driving-scene LiDAR Semantic Segmentation

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