Ke-MLS: A large-scale labeled mobile Lidar data set from Indian urban region

Labeled Mobile Laser Scanning (MLS) data are increasingly in demand for applications such as urban planning and autonomous driving. However, there is a severe shortage of manually labeled, high-fidelity MLS datasets, especially from developing countries like India. Deep learning models trained on less complex environments often fail to generalize to Indian scenarios, hindering the development of robust applications. To address this gap, we introduce Ke-MLS, the largest publicly available, expert-labeled MLS LiDAR dataset from Kerala, India. The dataset comprises 48 classes and supports the training of a variety of deep learning models for multiple applications. We evaluate the performance of state-of-the-art 3D deep learning algorithms on Ke-MLS, achieving mean Intersection-Over-Union (mIoU) scores in the range of 70–80%. The dataset is publicly available at https://lidaverse.com/ .