PCL could point

PCL has a nice repository here that contains point clouds in a format you should be able to read easily.  For more data sets (in various formats) see the following links.  Most of the data below is free to use for educational work; for other purposes you should see licenses for detail.

  - Robotic 3D Scan Repository
  - Radish: The Robotics Data Set Repository
  - Canadian Planetary Emulation Terrain 3D Mapping Dataset
  - Stanford 3D Scanning Repository
  - ISPRS Test On Extracting DEMs From Point Clouds
  - SmartMultiMedia LiDAR Software and Point Cloud Sample Data
  - Leica Geosystems (projected data)
  - Pseudo-Simulated LiDAR
  - Cyberware Head & Face Color 3D Scanner
  - Autodesk Labs
  - http://www.lidardata.com/
  - USGS Seamless Data Warehouse
  - USGS Historic DEMs
  - ASTER, JPL
  - USGS DEMs, geocomm
  - The Digital Michelangelo Project
  - The Chapel Hill Volume Rendering Test Data Set
  - Large Geometric Models Archive, Georgia Tech
  - Virtual Terrain Project (has links to several sources for data)

 

Since the last post, this has gone up as a news item to which there were several replies with additional links.  I am hoping this eventually makes its way to a new page on the PCL site, but in the mean time here are the latest set of links.  Thanks to Alexander Velizhev, François Pomerleau and Robert Huitl for their submissions.

• 3D Point Clouds

  • Autodesk Research - Digital 210 King
                    Sample scan and image data of the Autodesk Research office.                  
  • Autonomous Systems Lab (ETH)
                    Laser and Kinect data from structured and unstructured environments.  This group has a list of useful related links as well as a similar set of links to data.                
  • Canadian Planetary Emulation Terrain 3D Mapping Dataset
                    Laser scans of unstructured terrains from rover platforms.  Includes Matlab code for data parsing.                
  • Leica Geosystems (projected data)
                    Example databases of laser scan data.                
  • Point Cloud Classification (Lomonosov Moscow State university)
                    Aerial lidar data with class labeling.                
  • Pointools
                    Sample data sets for pointools evaluation.                
  • Pseudo-Simulated LiDAR
                    Pseudo-simulated lidar data created for change detection experiments.                
  • Robotic 3D Scan Repository
                Registered 3D scans of indoor and outdoor environments.  Some data sets include thermal and color information.           
  • SmartMultiMedia LiDAR Software and Point Cloud Sample Data
                    Sample LiDAR scan data sets, including links to commercial point cloud software.                 

• Localization and Mapping

  • KITTI Vision Benchmark Suite
                    Mono and stereo camera data, including calibration, odometry and more.                
  • MIT DARPA Grand Challenge Team
                    Camera, lidar and log files, including source code for parsing logs.                
  • NAVVIS Indoor Dataset
                    LIDAR scans of the interiors of the corridors of the TU Munich main campus, acquired slice-by-slice by a mapping trolley and aggregated into a big point cloud.  The site also includes registered imagery, camera calibration, occupancy grid maps and more.                
  • The New College Vision and Laser Data Set
                    Stereo and omni-directional imagery, lidar and pose data.                
  • PeRL: Ford Campus Vision and Lidar Dataset
                    Camera and lidar data, including source code and more.                
  • Radish: The Robotics Data Set Repository
                    Odometry, laser and sonar data, including log files and generated maps.                
  • SLAM-related robotics data sets (University of Freiburg)
                    Compilation of 2D maps in the form of raw and correct log files.                

• Models

  • The Digital Michelangelo Project
                    Data is free but must be ordered as it is quite large.                
  • Large Geometric Models Archive (Georgia Tech)
                    Collection of standard models.                
  • Stanford 3D Scanning Repository
                    Collection of standard models (bunny, dragon, etc) including range data and zippered reconstructions.                

• Heightmaps (DEM and similar)

  • ASTER, JPL
                    Global DEM.                
  • GNet
                    Large aerial lidar data set.                
  • ISPRS Test On Extracting DEMs From Point Clouds
                    First and last pulse laser data from overhead scans of urban and natural environments.                
  • http://www.lidardata.com/
                    Large database of aerial lidar.  Data sets must be ordered and may not be free.                
  • National Land Survey of Finland
                    Elevation and similar data of Finland.                
  • OpenTopography
                    Aerial lidar data.                
  • USGS DEMs, geocomm
                    Data sets must be ordered and may not be free.              
  • USGS Historic DEMs
                    Mount St. Helens DEMs before and after 1980 eruption.  Possibly other free data sets.                
  • USGS Seamless Data Warehouse
                    Large database of topographic data from USGS and NGA.  Data sets must be ordered and may not be free.                

• Face Scans

  • Cyberware Head & Face Color 3D Scanner
                    Sample head and face data including original data, merged ply files and uv/color data.                

• Volume Data (MRI and similar)

  • The Chapel Hill Volume Rendering Test Data Set
                    Head, knee and cadaver MRI data.                

• Object Detection

  • B3DO: Berkeley 3D Object Dataset
                    Indoor object detection data sets.                
  • NYU Depth Datasets
                    Indoor object detection data sets.                
  • RGB-D Object Dataset
                    Indoor object detection data sets with many common household objects.                
  • Semantic Database of 3D Objects (Technische Universität München)
                    Stereo camera and lidar scans of typical household objects.                

• Misc/Variety

  • Computer Vision Group (Technische Universität München)
    Kinect RGB-D data for visual SLAM, multiview 3D reconstruction data and other image based data sets.                
  • Virtual Terrain Project
                    3D LiDAR data, topographic and other data.  This site also has many useful links.

In reply to this post by tstanley

Also, I have a repository with some PCL code and also a lot of pointclouds in PCD format of a previous work about object recognition:

https://github.com/jvgomez/irml/

Concretely https://github.com/jvgomez/irml/tree/master/pointclouds/database

The pointclouds are captured with the focus of segment objects and get many views of them.

I hope this can be useful :)

REF; http://www.pcl-users.org/Clouds-of-points-where-I-can-find-td4025095.html