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README.md
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# LiSu: A Dataset for LiDAR Surface Normal Estimation
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LiSu provides synthetic LiDAR point clouds, each annotated with surface normal vectors.
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This dataset is generated using [CARLA](https://github.com/carla-simulator/carla) simulator, ensuring diverse environmental conditions for robust training and evaluation.
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Below is an example from LiSu, where surface normals are linearly mapped to the RGB color space for intuitive visualization:
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One map is designated for validation, while the remaining eight maps are divided equally between the training and testing sets.
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This results in 25053 training, 22167 testing, and 2825 validation frames.
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### Dataset Sources
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<div style="display: flex;">
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<a href="https://github.com/malicd/LiSu" target="_blank">
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<img src="https://img.shields.io/badge/GitHub-%23121011.svg?logo=github&logoColor=white" alt="GitHub">
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</a>
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<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/malicd/lisu" style="margin-right: 20px;">
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<a href="https://arxiv.org/abs/2503.08601" target="_blank">
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<img src="https://img.shields.io/badge/Paper-arXiv-red" alt="Paper arXiv">
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</a>
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</div>
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### CARLA Pull Request
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<div style="display: flex;">
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<a href="https://github.com/carla-simulator/carla/pull/8773" target="_blank">
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---
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# LiSu: A Dataset for LiDAR Surface Normal Estimation
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<div style="display: flex;">
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<a href="https://github.com/malicd/LiSu" target="_blank">
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<img src="https://img.shields.io/badge/GitHub-%23121011.svg?logo=github&logoColor=white" alt="GitHub">
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</a>
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<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/malicd/lisu" style="margin-right: 20px;">
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<a href="https://arxiv.org/abs/2503.08601" target="_blank">
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<img src="https://img.shields.io/badge/Paper-arXiv-red" alt="Paper arXiv">
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</a>
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</div>
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LiSu provides synthetic LiDAR point clouds, each annotated with surface normal vectors.
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This dataset is generated using [CARLA](https://github.com/carla-simulator/carla) simulator, ensuring diverse environmental conditions for robust training and evaluation.
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Below is an example from LiSu, where surface normals are linearly mapped to the RGB color space for intuitive visualization:
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One map is designated for validation, while the remaining eight maps are divided equally between the training and testing sets.
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This results in 25053 training, 22167 testing, and 2825 validation frames.
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### CARLA Pull Request
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<div style="display: flex;">
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<a href="https://github.com/carla-simulator/carla/pull/8773" target="_blank">
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