SnowPole Detection: A comprehensive dataset for detection and localization using LiDAR imaging in Nordic winter conditions

The <b>SnowPole Detection</b> dataset is a comprehensive collection of labeled LiDAR images, specifically designed for snow pole detection in road environments. This dataset was collected using a high-resolution <b>OS2-128 LiDAR</b> sensor mounted on an autonomous vehicle research platform, covering diverse environments such as mountainous, open, and forested areas. The SnowPole Detection dataset supports applications in computer vision, with a particular focus on <i>snow pole detection</i> and <i>localization</i>. he OS2-128 LiDAR sensor captures point clouds, which are processed using the Ouster SDK to generate 360-degree images in four modalities: Near-IR, Signal, Reflectivity, and Range. To enhance usability, color images were generated by assigning the first three modalities (Near-IR, Signal, and Reflectivity) to the blue, green, and red channels, respectively, excluding the Range modality. Initial labeling was conducted using <b>Roboflow</b>, with further refinement in <b>CVAT</b>, resulting in high-quality annotations. The dataset comprises a total of 1,954 manually labeled images, divided into 1,367 training images, 390 validation images, and 197 test images, following a 70/20/10 split. Since the images across all modalities are pixel-aligned, the labels for the color images are also applicable to each modality individually. This structure allows researchers to directly use the dataset for snow pole detection tasks, whether focusing on color or individual LiDAR modalities. The SnowPole Detection dataset is publicly available at Mendeley.