# HRHD-HK: A benchmark dataset of high-rise and high-density urban scenes for 3D semantic segmentation of photogrammetric point clouds

arXiv: https://arxiv.org/abs/2307.07976 · HTML: https://mlsanity.com/paper/2307.07976/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 15 of its 23 references that are in the map.
- First posted on arXiv 16 Jul 2023.

## Builds on (most cited first, 15 of 15)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [Deep Learning for 3D Point Clouds: A Survey](https://mlsanity.com/paper/1912.12033/) (2019)
- [Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs](https://mlsanity.com/paper/1711.09869/) (2017)
- [Stratified Transformer for 3D Point Cloud Segmentation](https://mlsanity.com/paper/2203.14508/) (2022)
- [DALES: A Large-scale Aerial LiDAR Data Set for Semantic Segmentation](https://mlsanity.com/paper/2004.11985/) (2020)
- [SensatUrban: Learning Semantics from Urban-Scale Photogrammetric Point Clouds](https://mlsanity.com/paper/2201.04494/) (2022)
- [The Hessigheim 3D (H3D) Benchmark on Semantic Segmentation of High-Resolution 3D Point Clouds and Textured Meshes from UAV LiDAR and Multi-View-Stereo](https://mlsanity.com/paper/2102.05346/) (2021)
- [DublinCity: Annotated LiDAR Point Cloud and its Applications](https://mlsanity.com/paper/1909.03613/) (2019)
- [Campus3D: A Photogrammetry Point Cloud Benchmark for Hierarchical Understanding of Outdoor Scene](https://mlsanity.com/paper/2008.04968/) (2020)
- [Semantic Segmentation on Swiss3DCities: A Benchmark Study on Aerial Photogrammetric 3D Pointcloud Dataset](https://mlsanity.com/paper/2012.12996/) (2020)
- [Efficient Urban-scale Point Clouds Segmentation with BEV Projection](https://mlsanity.com/paper/2109.09074/) (2021)

## Built on by (most cited first, 2 of 2)

- [OpenTrench3D: A Photogrammetric 3D Point Cloud Dataset for Semantic Segmentation of Underground Utilities](https://mlsanity.com/paper/2404.07711/) (2024)
- [Polis: 3D Self-Supervision at City Scale](https://mlsanity.com/paper/2608.29426/) (2026)

## Abstract (arXiv)

Many existing 3D semantic segmentation methods, deep learning in computer vision notably, claimed to achieve desired results on urban point clouds. Thus, it is significant to assess these methods quantitatively in diversified real-world urban scenes, encompassing high-rise, low-rise, high-density, and low-density urban areas. However, existing public benchmark datasets primarily represent low-rise scenes from European cities and cannot assess the methods comprehensively. This paper presents a benchmark dataset of high-rise urban point clouds, namely High-Rise, High-Density urban scenes of Hong Kong (HRHD-HK). HRHD-HK arranged in 150 tiles contains 273 million colorful photogrammetric 3D points from diverse urban settings. The semantic labels of HRHD-HK include building, vegetation, road, waterbody, facility, terrain, and vehicle. To our best knowledge, HRHD-HK is the first photogrammetric dataset that focuses on HRHD urban areas. This paper also comprehensively evaluates eight popular semantic segmentation methods on the HRHD-HK dataset. Experimental results confirmed plenty of room for enhancing the current 3D semantic segmentation of point clouds, especially for city objects with small volumes. Our dataset is publicly available at https://doi.org/10.25442/hku.23701866.v2.