CENAGIS-ALS BENCHMARK - NEW PROPOSAL FOR DENSE ALS BENCHMARK BASED ON THE REVIEW OF DATASETS AND BENCHMARKS FOR 3D POINT CLOUD SEGMENTATION

Abstract. Benchmarking is an essential tool for scientific and technological progress. This article reviews the benchmarks for 3D point cloud segmentation and classification. Based on the analysis of the articles and the knowledge gathered, it can be concluded that there has been an increase in the number of benchmarks, allowing to compare research results against specific performance metrics independently. However, benchmarks vary regarding the number of classes, spatial size, nomenclature, and class division. In this article, we introduce a new annotated 3D dataset - CENAGIS-ALS Benchmark. We propose a benchmark of highly dense lidar point clouds acquired by Leica CityMapper-2 for the Centre of Warsaw, Poland. The area covers 2 km2, and the data has a density of 275 pts/m2. The dataset consists of a number of classes that are distinguishable for this type of data. In addition to the basic classes, more specialized classes, important from the perspective of urban space, are also distinguished. Moreover, the division of classes consists of three levels of detail from coarse (e.g., a building) to refined elements (e.g., roofs, chimneys, and other rooftop objects). This benchmark can contribute to geospatial societies, considering the large spatial size of the study area with unified data quality and the higher number of classes with the hierarchical division compared to other benchmarking data.