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Community Resources and Repositories

Following the January 7 news item on publicly available point cloud data sets many in the PCL community have responded positively, and contributed a number of links to publicly available data and software repositories.  Based on the comments and requests of these members it is clear that there is a need for a common place for researchers to advertise publicly available data and software related to the processing of point clouds.  As a step in this direction the set of collected links has been organized and placed on the PCL media page.  The community is encouraged to contribute new links as well as to comment on best way to organize these links as to provide easy access to high-quality data for the development and comparison of new algorithms related to point cloud processing.

City Center Bremen Germany

The above image shows an example data set from the Robotic 3D Scan Repository and has been reproduced with permission from Professor Andreas Nüchter, Jacobs University Bremen gGmbH, Germany.  

Point Cloud Data Sets

PCL has a nice data repository, that contains point clouds in the PCD format, which can be easily read using PCL tools. However, there are many other sites with free downloadable data (in various formats). The following is a short list of such sites containing links to data that is free to use for educational work; for other purposes you should see licenses for detail. Also, if you wish to add to this list feel free to submit to the forum or email me directly (hielsber).


  - Robotic 3D Scan Repository
  - Radish: The Robotics Data Set Repository
  - Canadian Planetary Emulation Terrain 3D Mapping Dataset
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