RailPC: A large-scale railway point cloud semantic segmentation dataset

Semantic segmentation in the context of 3D point clouds for the railway environment holds a significant economic value, but its development is severely hindered by the lack of suitable and specific datasets. Additionally, the models trained on existing urban road point cloud datasets demonstrate poor generalisation on railway data due to a large domain gap caused by non-overlapping special/rare categories, for example, rail track, track bed etc. To harness the potential of supervised learning methods in the domain of 3D railway semantic segmentation, we introduce RailPC, a new point cloud benchmark. RailPC provides a large-scale dataset with rich annotations for semantic segmentation in the railway environment. Notably, RailPC contains twice the number of annotated points compared to the largest available mobile laser scanning (MLS) point cloud dataset and is the first railway-specific 3D dataset for semantic segmentation. It covers a total of nearly 25 km railway in two different scenes (urban and mountain), with 3 billion points that are finely labelled as 16 most typical classes with respect to railway, and the data acquisition process is completed in China by MLS systems. Through extensive experimentation, we evaluate the performance of advanced scene understanding methods on the annotated dataset and present a synthetic analysis of semantic segmentation results. Based on our findings, we establish some critical challenges towards railway-scale point cloud semantic segmentation. The dataset is available at , and we will continuously update it based on community feedback.