license:cc-by-nc-4.0 arxiv:2408.16322 region:us
---
license: cc-by-nc-4.0
---

# Subsampled Point Clouds for the Woven Planet Dataset

This dataset contains the resulting point clouds from the Woven Planet Dataset which were subsampled in order to resemble the point cloud distribution of the nuScenes dataset.

We share these point clouds to facilitate the reproduction of our work [BEVal: A Cross-dataset Evaluation Study of BEV Segmentation Models for Autonomous Driving](https://arxiv.org/abs/2408.16322)

Github repository: https://github.com/manueldiaz96/beval 

## Data preparation

1. Download the downsampled point clouds compressed ZIP file
2. Create a folder called `subsampled_lidar` under the main folder for the Woven Planet Dataset
3. Extract the contents of the `subsampled_lidar.zip` file into the `subsampled_lidar` folder
4. Enjoy!