# Semantic2D Dataset A 2D lidar semantic segmentation dataset for mobile robotics applications. This is the first publicly available 2D lidar semantic segmentation dataset, featuring point-wise annotations for nine indoor object categories across twelve distinct environments. **Associated Paper:** *Semantic2D: Enabling Semantic Scene Understanding with 2D Lidar Alone***Authors:** Zhanteng Xie, Yipeng Pan, Yinqiang Zhang, Jia Pan, Philip Dames**Institutions:** The University of Hong Kong, Temple University **Video:** https://youtu.be/P1Hsvj6WUSY**GitHub:** https://github.com/TempleRAIL/semantic2d --- ## Citation ```bibtex@article{xie2026semantic2d, title={Semantic2D: Enabling Semantic Scene Understanding with 2D Lidar Alone}, author={Xie, Zhanteng and Pan, Yipeng and Zhang, Yinqiang and Pan, Jia and Dames, Philip}, journal={arXiv preprint arXiv:2409.09899}, year={2026}}``` ## Contact - Zhanteng Xie: zhanteng@hku.hk