We present LiSTA (LiDAR Spatio-Temporal Analysis) Simulated LiDAR Dataset, a simulated LiDAR dataset designed to be analagous to the Ouster os0-128 LiDAR, with three office scenes, each with two missions. The dataset is designed for per-point evaluation of object level change detection algorithms.

Publication

This work has been accepted to the 2024 International Conference on Robotics and Automation (ICRA) and can be found here.

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Citation

[Preprint] [PDF] [Video]

@inproceedings{RowellLiSTAEnvironments,
  author       = {Rowell, Joseph and
                  Zhang, Lintong and
                  Fallon, Maurice},
  title        = {LiSTA: Geometric Object-Based Change Detection in Cluttered Environments},
  booktitle    = {IEEE Intl. Conf. on Robotics and Automation (ICRA)}, 
  year         = {2024},
  doi          = {placeholder},
}

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If you have any feedback about the dataset please email us joseph@robots.ox.ac.uk

Authors

The following members of Dynamic Robot Systems Group at The Oxford Robotics Institute contributed to this dataset: Joseph Rowell, Lintong Zhang and Maurice Fallon.

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