SZTAKI City MLS Point Cloud dataset (SZTAKI-CityMLS)

The SZTAKI City MLS Point Cloud dataset (SZTAKI-CityMLS) has been created by the authors of [1] for the purpose of evaluating 3D semantic point cloud segmentation algorithms in urban environments, based on mobile laser scanning (MLS) measurements of a Riegl VMX-450 mobile mapping system. The database can be downloaded here. Test data has been provided by Budapest Közút Zrt.

CityMLS object dataset descrption

For the evaluation of the method proposed in [1] we created a new hand labeled dataset, called SZTAKI-CityMLS.

Images from sample point clouds:

Classes for annotation: phantom, tram/bus, predestrian, car, vegetation, column, street furniture, ground, building facade


Dataset download

Download the SZTAKI-CityMLS dataset (around 6GB).

For password, please fill a "term-of-use" agreement (doxc or pdf) and send it to Balázs Nagy,


[1]B. Nagy and Cs. Benedek: ”3D CNN Based Semantic Labeling Approach for Mobile Laser Scanning Data,” IEEE Sensors Journal, vol. 19, no. 21, pp. 10034 - 10045, 2019, Open Access


Geo-Information Computing @ Machine Perception Lab.

GeoComp Research Group

Machine Perception Laboratory

SZTAKI main page

GeoComp Demos:

Demo page



GeoComp Group leader: Dr. Csaba Benedek

i4D project manager: Dr. Zsolt Jankó

Head of MPLab: Prof. Tamás Szirányi

MPLab administration: Anikó Vágvölgyi


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