Learning Under Noisy Labels, Spurious Points, and Diverse Structures: TS40K, a 3D Point Cloud Dataset of Rural Terrain and Electrical Transmission Systems

Diogo Lavado, Ricardo Santos, André Coelho, João Santos, Alessandra Micheletti, Cláudia Soares

Abstract: Research in 3D scene understanding, particularly in autonomous driving and indoor segmentation, has made significant strides. However, most available datasets focus on urban settings. We introduce TS40K, a 3D point cloud dataset spanning 40,000 km of electrical transmission systems in rural terrain, addressing power-grid inspections to prevent outages, damages, and fires. TS40K offers high point density and no occlusion, presenting challenges like noisy labels, diverse structures, and sensor noise causing spurious points. We evaluate state-of-the-art methods on 3D semantic segmentation and object detection, revealing limitations in power grid inspection. TS40K invites further research to tackle these challenges. Resources available in: https://github.com/dlavado/TS40K