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GridNet-HD: A High-Resolution Multi-Modal Dataset for LiDAR-Image Fusion on Power Line Infrastructure

arXiv 2601.13052 ↗First posted 19 Jan 2026cs.CVcited by 0

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Abstract (arXiv)

This paper presents GridNet-HD, a multi-modal dataset for 3D semantic segmentation of overhead electrical infrastructures, pairing high-density LiDAR with high-resolution oblique imagery. The dataset comprises 7,694 images and 2.5 billion points annotated into 11 classes, with predefined splits and mIoU metrics. Unimodal (LiDAR-only, image-only) and multi-modal fusion baselines are provided. On GridNet-HD, fusion models outperform the best unimodal baseline by +5.55 mIoU, highlighting the complementarity of geometry and appearance. As reviewed in Sec. 2, no public dataset jointly provides high-density LiDAR and high-resolution oblique imagery with 3D semantic labels for power-line assets. Dataset, baselines, and codes are available: https://huggingface.co/collections/heig-vd-geo/gridnet-hd.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 33 of its 54 references that are in the map. First posted on arXiv 19 Jan 2026.

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References · 33

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21 more
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