# 3DAeroRelief: The first 3D Benchmark UAV Dataset for Post-Disaster Assessment

arXiv: https://arxiv.org/abs/2509.11097 · HTML: https://mlsanity.com/paper/2509.11097/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 33 references that are in the map.
- First posted on arXiv 14 Sep 2025.

## Builds on (most cited first, 23 of 23)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Point Transformer V3: Simpler, Faster, Stronger](https://mlsanity.com/paper/2312.10035/) (2023)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [Language-Grounded Indoor 3D Semantic Segmentation in the Wild](https://mlsanity.com/paper/2204.07761/) (2022)
- [FloodNet: A High Resolution Aerial Imagery Dataset for Post Flood Scene Understanding](https://mlsanity.com/paper/2012.02951/) (2020)
- [Fast Point Transformer](https://mlsanity.com/paper/2112.04702/) (2021)
- [DALES: A Large-scale Aerial LiDAR Data Set for Semantic Segmentation](https://mlsanity.com/paper/2004.11985/) (2020)
- [OA-CNNs: Omni-Adaptive Sparse CNNs for 3D Semantic Segmentation](https://mlsanity.com/paper/2403.14418/) (2024)
- [RescueNet: A High Resolution UAV Semantic Segmentation Benchmark Dataset for Natural Disaster Damage Assessment](https://mlsanity.com/paper/2202.12361/) (2022)
- [VQA-Aid: Visual Question Answering for Post-Disaster Damage Assessment and Analysis](https://mlsanity.com/paper/2106.10548/) (2021)
- [FRACTAL: An Ultra-Large-Scale Aerial Lidar Dataset for 3D Semantic Segmentation of Diverse Landscapes](https://mlsanity.com/paper/2405.04634/) (2024)
- [Quantitative Data Analysis: CRASAR Small Unmanned Aerial Systems at Hurricane Ian](https://mlsanity.com/paper/2308.14577/) (2023)
- [Attention Based Semantic Segmentation on UAV Dataset for Natural Disaster Damage Assessment](https://mlsanity.com/paper/2105.14540/) (2021)

## Built on by (most cited first, 3 of 3)

- [Think First, Assign Next (ThiFAN-VQA): A Two-stage Chain-of-Thought Framework for Post-Disaster Damage Assessment](https://mlsanity.com/paper/2511.19557/) (2025)
- [Survey on Disaster Management Datasets for Remote Sensing Based Emergency Applications](https://mlsanity.com/paper/2605.08196/) (2026)
- [OPTNet: Ordering Point Transformer Network for Post-disaster 3D Semantic Segmentation](https://mlsanity.com/paper/2605.17197/) (2026)

## Abstract (arXiv)

Timely assessment of structural damage is critical for disaster response and recovery. However, most prior work in natural disaster analysis relies on 2D imagery, which lacks depth, suffers from occlusions, and provides limited spatial context. 3D semantic segmentation offers a richer alternative, but existing 3D benchmarks focus mainly on urban or indoor scenes, with little attention to disaster-affected areas. To address this gap, we present 3DAeroRelief--the first 3D benchmark dataset specifically designed for post-disaster assessment. Collected using low-cost unmanned aerial vehicles (UAVs) over hurricane-damaged regions, the dataset features dense 3D point clouds reconstructed via Structure-from-Motion and Multi-View Stereo techniques. Semantic annotations were produced through manual 2D labeling and projected into 3D space. Unlike existing datasets, 3DAeroRelief captures 3D large-scale outdoor environments with fine-grained structural damage in real-world disaster contexts. UAVs enable affordable, flexible, and safe data collection in hazardous areas, making them particularly well-suited for emergency scenarios. To demonstrate the utility of 3DAeroRelief, we evaluate several state-of-the-art 3D segmentation models on the dataset to highlight both the challenges and opportunities of 3D scene understanding in disaster response. Our dataset serves as a valuable resource for advancing robust 3D vision systems in real-world applications for post-disaster scenarios.