Links:

• Official link (Recommended):

  SMID_beta_v1_2_official (closed on Aug 3, 2024)

  SMID_v1_3_official: We have optimized the 3D semantic segmentation ground truth labels by correcting several minor errors and enhanced the dataset by including annotations for several unlabeled point clouds in S.MID beta version 1.2 that were previously filtered out by the robot for other downstream tasks.

  SMID_v1_4_official: We provide rough pose files and update the intensity of the point clouds.

For your convenience, we provide two other ways to download the dataset.

• 百度网盘:

  SMID_v1_3_baidu

• Google Drive link:

  SMID_v1_3_google

License

The S.MID dataset is published under CC BY-NC-SA 4.0 license, which means that anyone can use this dataset for non-commercial research purposes.