RAIS

REHEARSE-3D: A Multi-modal Emulated Rain Dataset for 3D Point Cloud De-raining

Authors: Abu Mohammed Raisuddin¹, Jesper Holmblad¹, Hamed Haghighi², Yuri Poledna³, Maikol Funk Drechsler³, Valentina Donzella² and Eren Erdal Aksoy¹

Affiliations

1. Halmstad University
2. University of Warwick
3. Technische Hochschule Ingolstadt

Data Download

Click Here to Download REHEARSE3D

Simulated Data Link Coming Soon

The data directory structure is shown below. The root folder name is REHEARSE3D_PUBLIC. Following the Semantic Kitti structure, there is sequences folder inside the root folder. Inside it, there are 143 sequences numbered from 000 to 142. Each numbered sequence contains data from multiple sensors for about 30 seconds. Inside the numbered folder (e.g., 000 ) there are 9 sub-folders (arena, ext_radar, flir, innoviz, ouster , radar_pcd, weather, lidar_radar_pcd, and lidar_radar_labels).

• arena contains RGB data
• ext_radar contains extended radar data, along with the 3d coordinates, this folder contains the intensity, cross section, velocity, and confidence data.
• flir contains thermal camera images
• innoviz contains 3d point clouds form innoviz lidar sensor.
• ouster contains 3d point clouds from ouster lidar sensor.
• radar_pcd contains 3d point cloud from radar.
• weather contains weather data (e.g., device temperature, dew point, humidity, luminosity, pressure, relative humidity, wind direction, wind speed, etc. )
• lidar_radar_pcd contains merged innoviz and radar point clouds.
• lidar_radar_pcd contains the labels of merged innoviz and radar point cloud.

  REHEARSE3D_PUBLIC
  |
  |- sequences 
    |
    |- 000 
        |
        |- arena 
            |- 000000.jpeg 
            .
            .
            .
            |- 000297.jpeg 
            |- metadata.csv 
        |
        |- ext_radar 
            |- 000000.csv 
            .
            .
            .
            |- 000495.csv 
            |- metadata.csv 
        |
        |- flir 
            |- 000000.jpeg 
            .
            .
            .
            |- 000297.jpeg 
            |- metadata.csv 
        |
        |- innoviz
            |- 000000.bin
            .
            .
            .
            |- 000293.bin 
            |- metadata.csv 
        |
        |- ouster
            |- 000000.bin
            .
            .
            .
            |- 000297.bin 
            |- metadata.csv 
        |
        |- radar_pcd
            |- 000000.bin
            .
            .
            .
            |- 000495.bin 
            |- metadata.csv 
        |
        |- weather 
            |- 000000.csv 
            .
            .
            .
            |- 000029.csv 
        |
        |- lidar_radar_pcd 
            |- 000000.bin
            .
            .
            .
            |- 000293.bin 
        |- lidar_radar_labels
            |- 000000.label
            .
            .
            .
            |- 000293.label 
          
    |
    |- 001 
    .
    .
    .
    |- 142
  

Saved Model

Outdet Weights

SalsaNext Weights

Hyperparameters

Will be available soon.

Rain Removal with 3D-OutDet and SalsaNext

Acknowledgement

We thank Foxglove Technologies, Inc. for publishing a very nice tutorial on REHEARSE-3D dataset. The Tutorial can be found here