Tool and data set of road networks for 80 of the most populated urban areas in the world. The data consist of a graph edge list for each city and two corresponding GIS shapefiles (i.e., links and nodes).Make your own data with our ArcGIS, QGIS, and python tools available at: http://csun.uic.edu/codes/GISF2E.htmlPlease cite: Karduni,A., Kermanshah, A., and Derrible, S., 2016, "A protocol to convert spatial polyline data to network formats and applications to world urban road networks", Scientific Data, 3:160046, Available at http://www.nature.com/articles/sdata201646

Overview

3DHD CityScenes is the most comprehensive, large-scale high-definition (HD) map dataset to date, annotated in the three spatial dimensions of globally referenced, high-density LiDAR point clouds collected in urban domains. Our HD map covers 127 km of road sections of the inner city of Hamburg, Germany including 467 km of individual lanes. In total, our map comprises 266,762 individual items.

Our corresponding paper (published at ITSC 2022) is available here. Further, we have applied 3DHD CityScenes to map deviation detection here.

Moreover, we release code to facilitate the application of our dataset and the reproducibility of our research. Specifically, our 3DHD_DevKit comprises:

Python tools to read, generate, and visualize the dataset,

3DHDNet deep learning pipeline (training, inference, evaluation) for map deviation detection and 3D object detection.

The DevKit is available here:

https://github.com/volkswagen/3DHD_devkit.

The dataset and DevKit have been created by Christopher Plachetka as project lead during his PhD period at Volkswagen Group, Germany.

When using our dataset, you are welcome to cite:

@INPROCEEDINGS{9921866, author={Plachetka, Christopher and Sertolli, Benjamin and Fricke, Jenny and Klingner, Marvin and Fingscheidt, Tim}, booktitle={2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)}, title={3DHD CityScenes: High-Definition Maps in High-Density Point Clouds}, year={2022}, pages={627-634}}

Acknowledgements

We thank the following interns for their exceptional contributions to our work.

Benjamin Sertolli: Major contributions to our DevKit during his master thesis

Niels Maier: Measurement campaign for data collection and data preparation

The European large-scale project Hi-Drive (www.Hi-Drive.eu) supports the publication of 3DHD CityScenes and encourages the general publication of information and databases facilitating the development of automated driving technologies.

The Dataset

After downloading, the 3DHD_CityScenes folder provides five subdirectories, which are explained briefly in the following.

1. Dataset

This directory contains the training, validation, and test set definition (train.json, val.json, test.json) used in our publications. Respective files contain samples that define a geolocation and the orientation of the ego vehicle in global coordinates on the map.

During dataset generation (done by our DevKit), samples are used to take crops from the larger point cloud. Also, map elements in reach of a sample are collected. Both modalities can then be used, e.g., as input to a neural network such as our 3DHDNet.

To read any JSON-encoded data provided by 3DHD CityScenes in Python, you can use the following code snipped as an example.

import json

json_path = r"E:\3DHD_CityScenes\Dataset\train.json" with open(json_path) as jf: data = json.load(jf) print(data)

1. HD_Map

Map items are stored as lists of items in JSON format. In particular, we provide:

traffic signs,

traffic lights,

pole-like objects,

construction site locations,

construction site obstacles (point-like such as cones, and line-like such as fences),

line-shaped markings (solid, dashed, etc.),

polygon-shaped markings (arrows, stop lines, symbols, etc.),

lanes (ordinary and temporary),

relations between elements (only for construction sites, e.g., sign to lane association).

1. HD_Map_MetaData

Our high-density point cloud used as basis for annotating the HD map is split in 648 tiles. This directory contains the geolocation for each tile as polygon on the map. You can view the respective tile definition using QGIS. Alternatively, we also provide respective polygons as lists of UTM coordinates in JSON.

Files with the ending .dbf, .prj, .qpj, .shp, and .shx belong to the tile definition as “shape file” (commonly used in geodesy) that can be viewed using QGIS. The JSON file contains the same information provided in a different format used in our Python API.

1. HD_PointCloud_Tiles

The high-density point cloud tiles are provided in global UTM32N coordinates and are encoded in a proprietary binary format. The first 4 bytes (integer) encode the number of points contained in that file. Subsequently, all point cloud values are provided as arrays. First all x-values, then all y-values, and so on. Specifically, the arrays are encoded as follows.

x-coordinates: 4 byte integer

y-coordinates: 4 byte integer

z-coordinates: 4 byte integer

intensity of reflected beams: 2 byte unsigned integer

ground classification flag: 1 byte unsigned integer

After reading, respective values have to be unnormalized. As an example, you can use the following code snipped to read the point cloud data. For visualization, you can use the pptk package, for instance.

import numpy as np import pptk

file_path = r"E:\3DHD_CityScenes\HD_PointCloud_Tiles\HH_001.bin" pc_dict = {} key_list = ['x', 'y', 'z', 'intensity', 'is_ground'] type_list = ['

1. Introduction

This cherry tree disease detection dataset is a multimodal, multi-angle dataset which was constructed for monitoring the growth of cherry trees, including stress analysis and prediction. An orchard of cherry trees is considered in the area of Western Macedonia, where 577 cherry trees were recorded in a full crop season starting from Jul. 2021 to Jul. 2022. The dataset includes a) aerial / Unmanned Aerial Vehicle (UAV) images, b) ground RGB images/photos, and c) ground multispectral images/photos. Two agronomist experts annotated the dataset by identifying a stress, which in this case is a common disease in cherry trees known as Armillaria [1][2].

1. Citation

Please cite the following papers when using this dataset:

C. Chaschatzis, C. Karaiskou, E. Mouratidis, E. Karagiannis, and P. Sarigiannidis, “Detection and Characterization of Stressed Sweet Cherry Tissues Using Machine Learning”, Drones, vol. 6, no. 1, 2022.

P. Radoglou-Grammatikis, P. Sarigiannidis, T. Lagkas, & I. Moscholios, “A compilation of UAV applications for precision agriculture,” Computer Networks, vol. 172, no. 107148, 2020.

A. Lytos, T. Lagkas, P. Sarigiannidis, M. Zervakis, & G. Livanos, “Towards smart farming: Systems, frameworks and exploitation of multiple sources,” Computer Networks, vol. 172, no. 107147, 2020.

1. Cherry tree mapping

In this dataset, an orchard of cherry trees is considered in the area of Western Macedonia, where 577 cherry trees were recorded in a full crop season starting from Jul. 2021 to Jul. 2022. The tree mapping within the orchard is depicted in Fig. 1. (please refer to the ReadMe file), where each circle represents a cherry tree. Labels on the circles (green, red etc) will be elaborated in the following Sections. The five time periods, where the orchard was recorded are: 8th of Jul. 2021, 16th of Sep. 2021, 3rd of Nov. 2021, 26th of May 2022, and 13th of Jul. 2022, providing data to a full year of life cycle.

1. Dataset Modalities

The dataset includes a) aerial / Unmanned Aerial Vehicle (UAV) images, b) ground RGB images/photos, and c) ground multispectral images/photos. Two agronomist experts annotated the dataset by identifying a stress, which in this case is a common disease in cherry trees known as Armillaria [1][2]. In particular, the following modalities are featured in the dataset:

Ground RGB images

Ground multispectral images

UAV/Aerial images (RGB, multispectral, and NDVI).

These modalities represent the cherry tree cultivation in many levels. Each modality describes the same object (cherry tree) within the dataset, i.e., for each tree within. For example, Fig. 2 (please refer to the ReadMe file) show RGB images, Fig. 3 (please refer to the ReadMe file) illustrates multispectral images, and Fig. 4 (please refer to the ReadMe file) provides UAV images. All images show the same cherry trees under three (RGB, multispectral, and UAV) aspects.

1. Dataset Collection & Annotation

This dataset was annotated by two agronomist experts in terms of disease stage (Armillaria). In particular, they annotated each cherry tree, one by one, in four levels of disease stage:

Healthy: the cherry tree is completely healthy;

Stage1: Armillaria is present in light form in the cherry tree;

Stage2: Armillaria is present in advanced form;

Stage3: the cherry tree is killed due to Armillaria.

The annotation process was considered by each one of the underlying modalities (RGB, multispectral and UAV/aerial).

5.1 Image Collection

The image collection is depicted in the following image (please refer to the ReadMe file) in terms of the three modalities (aerial / Unmanned Aerial Vehicle (UAV) images, ground RGB images/photos, and ground multispectral images/photos).

5.2 Dataset Overview

The dataset overview is depicted in Table 1 (please refer to the ReadMe file).

1. Structure and Format

6.1 Dataset Structure

The provided dataset has the following structure (please refer to the ReadMe file).

6.2 Guide to edit the *.tif files

The Aerial/UAV images contain images obtained from the UAV camera in the .tif format. To open these images, you will need the QGIS or other relevant program, or load them by using the corresponding python libraries. Please follow the steps below:

Open QGIS

Locate the browser window in QGIS

Navigate to the folder that contains the images and select all the images in the layer.

Once you have selected the images, select Add Layer to Project, and the selected image will be added to your map.

For accessing the Image data with the OpenCV python library the following code example is provided (please refer to the ReadMe file).

1. Acknowledgment

This work was co‐financed by the European Regional Development Fund of the European Union and Greek national funds through the Operational Program Competitiveness, Entrepreneurship and Innovation, under the call RESEARCH – CREATE – INNOVATE (project code: Τ1EDK-04759).

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreements No. 957406 (TERMINET).

References

[1] Devkota, P.; Iezzoni, A.; Gasic, K.; Reighard, G.; Hammerschmidt, R. Evaluation of the susceptibility of Prunus rootstock genotypes to Armillaria and Desarmillaria species. Eur. J. Plant Pathol. 2020, 158, 177–193.

[2] Devkota, P.; Hammerschmidt, R. “The infection process of Armillaria mellea and Armillaria solidipes”. Physiol. Mol. Plant Pathol. 2020, 112, 101543.

Description

This dataset consist of two vector files which show the change in the building stock of the City of DaNang retrieved from satellite image analysis. Buildings were first identified from a Pléiades satellite image from 24.10.2015 and classified into 9 categories in a semi-automatic workflow desribed by Warth et al. (2019) and Vetter-Gindele et al. (2019).

In a second step, these buildings were inspected for changes based on a second Pléiades satellite image acquired on 13.08.2017 based on visual interpretation. Changes were also classified into 5 categories and aggregated by administrative wards (first dataset: adm) and a hexagon grid of 250 meter length (second dataset: hex).

The full workflow of the generation of this dataset, including a detailled description of its contents and a discussion on its potential use is published by Braun et al. 2020: Changes in the building stock of DaNang between 2015 and 2017

Contents

Both datasets (adm and hex) are stored as ESRI shapefiles which can be used in common Geographic Information Systems (GIS) and consist of the following parts:

shp: polygon geometries (geometries of the administrative boundaries and hexagons)

dbf: attribute table (containing the number of buildings per class for 2015 and 2017 and the underlying changes (e.g. number of new buildings, number of demolished buildings, ect.)

shx: index file combining the geometries with the attributes

cpg: encoding of the attributes (UTF-8)

prj: spatial reference of the datasets (UTM zone 49 North, EPSG:32649) for ArcGIS

qpj: spatial reference of the datasets (UTM zone 49 North, EPSG:32649) for QGIS

lyr: symbology suggestion for the polygons(predefined is the number of local type shophouses in 2017) for ArcGIS

qml: symbology suggestion for the polygons (predefined is the number of new buildings between 2015 and 2017) for QGIS

Citation and documentation

To cite this dataset, please refer to the publication

Braun, A.; Warth, G.; Bachofer, F.; Quynh Bui, T.T.; Tran, H.; Hochschild, V. (2020): Changes in the Building Stock of Da Nang between 2015 and 2017. Data, 5, 42. doi:10.3390/data5020042

This article contains a detailed description of the dataset, the defined building type classes and the types of changes which were analyzed. Furthermore, the article makes recommendations on the use of the datasets and discusses potential error sources.

Related article: Bergroth, C., Järv, O., Tenkanen, H., Manninen, M., Toivonen, T., 2022. A 24-hour population distribution dataset based on mobile phone data from Helsinki Metropolitan Area, Finland. Scientific Data 9, 39.

In this dataset:

We present temporally dynamic population distribution data from the Helsinki Metropolitan Area, Finland, at the level of 250 m by 250 m statistical grid cells. Three hourly population distribution datasets are provided for regular workdays (Mon – Thu), Saturdays and Sundays. The data are based on aggregated mobile phone data collected by the biggest mobile network operator in Finland. Mobile phone data are assigned to statistical grid cells using an advanced dasymetric interpolation method based on ancillary data about land cover, buildings and a time use survey. The data were validated by comparing population register data from Statistics Finland for night-time hours and a daytime workplace registry. The resulting 24-hour population data can be used to reveal the temporal dynamics of the city and examine population variations relevant to for instance spatial accessibility analyses, crisis management and planning.

Please cite this dataset as:

Bergroth, C., Järv, O., Tenkanen, H., Manninen, M., Toivonen, T., 2022. A 24-hour population distribution dataset based on mobile phone data from Helsinki Metropolitan Area, Finland. Scientific Data 9, 39. https://doi.org/10.1038/s41597-021-01113-4

Organization of data

The dataset is packaged into a single Zipfile Helsinki_dynpop_matrix.zip which contains following files:

HMA_Dynamic_population_24H_workdays.csv represents the dynamic population for average workday in the study area.

HMA_Dynamic_population_24H_sat.csv represents the dynamic population for average saturday in the study area.

HMA_Dynamic_population_24H_sun.csv represents the dynamic population for average sunday in the study area.

target_zones_grid250m_EPSG3067.geojson represents the statistical grid in ETRS89/ETRS-TM35FIN projection that can be used to visualize the data on a map using e.g. QGIS.

Column names

YKR_ID : a unique identifier for each statistical grid cell (n=13,231). The identifier is compatible with the statistical YKR grid cell data by Statistics Finland and Finnish Environment Institute.

H0, H1 ... H23 : Each field represents the proportional distribution of the total population in the study area between grid cells during a one-hour period. In total, 24 fields are formatted as “Hx”, where x stands for the hour of the day (values ranging from 0-23). For example, H0 stands for the first hour of the day: 00:00 - 00:59. The sum of all cell values for each field equals to 100 (i.e. 100% of total population for each one-hour period)

In order to visualize the data on a map, the result tables can be joined with the target_zones_grid250m_EPSG3067.geojson data. The data can be joined by using the field YKR_ID as a common key between the datasets.

License Creative Commons Attribution 4.0 International.

Related datasets

Järv, Olle; Tenkanen, Henrikki & Toivonen, Tuuli. (2017). Multi-temporal function-based dasymetric interpolation tool for mobile phone data. Zenodo. https://doi.org/10.5281/zenodo.252612

Tenkanen, Henrikki, & Toivonen, Tuuli. (2019). Helsinki Region Travel Time Matrix [Data set]. Zenodo. http://doi.org/10.5281/zenodo.3247564

This dataset is a compilation of geographic rasters from multiple environmental data sources. It aims at making the life of SDM users easier. All rasters cover the metropolitan French territory, but have varying resolutions and projections. Each directory inside the main directory "0_mydata" contain a single environmental raster. Punctual extraction of raster values can be easily done for large sets of WGS84-(longitude,latitude) points coordinates and for multiple rasters at the same time through the R function get_variables of script _functions.R from Github repository: https://github.com/ChrisBotella/SamplingEffort. All data sources are accessible on the web and free of use, at least for scientific purpose. They have various conditions of citations. Anyone diffusing a work using the present data must reference along with the present DOI, the original source data employed. Those source data are described in the paragraphs below. We provide the articles to cite, when required, and webpages for access.

Pedologic Descriptors of the ESDB v2: 1 km × 1 km Raster Library : The library contains multiple soil pedology (physico-chemical properties of the soil) descriptors raster layers covering Eurasia at a resolution of 1 km. We selected 11 descriptors from the library. They come from the PTRDB. The PTRDB variables have been directly derived from the initial soil classification of the Soil Geographical Data Base of Europe (SGDBE) using expert rules. For more details, see [1, 2] and [3]. The data is maintained and distributed freely for scientific use by the European Soil Data Centre (ESDAC) at http://eusoils.jrc.ec.europa.eu/content/european-soil-databasev2-raster. The 11 rasters are in the directories "awc_top", "bs_top", "cec_top", "dimp", "crusting", "erodi", "dgh", "text", "vs", "oc_top", "pd_top".

Corine Land Cover 2012, Version 18.5.1, 12/2016 : It is a raster layer describing soil occupation with 48 categories across Europe (25 countries) at a resolution of 100 m. This data base of the European Union is freely accessible online for all use at http://land.copernicus.eu/pan-european/corine-land-cover/clc-2012. The raster of this variable is in the directory "clc".

Hydrographic Descriptor of BD Carthage v3: BD Carthage is a spatial relational database holding many informations on the structure and nature of the french metropolitan hydrological network. For the purpose of plants ecological niche, we focus on the geometric segments representing watercourses, and polygons representing hydrographic fresh surfaces. The data has been produced by the Institut National de l’information Géographique et forestière (IGN) from an interpretation of the BD Ortho IGN. It is maintained by the SANDRE under free license for non-profit use and downloadable at:
http://services.sandre.eaufrance.fr/telechargement/geo/ETH/BDCarthage/FX
From this shapefile, we derived a raster containing the binary value raster proxi_eau_fast, i.e. proximity to fresh water, all over France.We used qgis to rasterize to a 12.5m resolution, with a buffer of 50m, the shapefile COURS_D_EAU.shp on
one hand, and the polygons of SURFACES_HYDROGRAPHIQUES.shp with attribute NATURE=“Eau douce
permanente” on the other hand.We then created the maximum raster of the previous ones (So the value of 1 correspond to an approximate distance of less than 50m to a watercourse or hydrographic surface of fresh water). The raster is in the directory named "proxi_eau_fast".

USGS Digital Elevation Data : The Shuttle Radar Topography Mission achieved in 2010 by Endeavour shuttle measured elevation at three arc second resolution over most of the earth surface. Raw measures have been post-processed by NASA and NGA in order to correct detection anomalies. The data is available from the U.S. Geological Survey, and downloadable on the Earthexplorer (https://earthexplorer.usgs.gov/). One may refer to https://www.usgs.gov/centers/eros/science/usgs-eros-archive-digital-elevation-shuttle-radar-topography-mission-srtm-void?qt-science_center_objects=0#qt-science_center_objects for more informations. the elevation raster is in the directory named "alti".

Potential Evapotranspiration of CGIAR-CSI ETP : The CGIAR-CSI distributes this worldwide monthly potential-evapotranspiration raster data. It is pulled from a model developed by Antonio Trabucco [4, 5]. Those are estimated by the Hargreaves formula, using mean monthly surface temperatures and standard deviation from WorldClim 1:4 (http://www.worldclim. org/), and radiation on top of atmosphere. The raster is at a 1km resolution, and is
freely downloadable for a nonprofit use at: http://www.cgiar-csi.org/data/global-aridity-and-pet-database#description. This raster is in the directory "etp".

Bioclimatic Descriptors of Chelsea Climate Data 1.1: Those are raster data with worldwide coverage and 1 km resolution. A mechanistical climatic model is used to make spatial predictions of monthly mean-max-min temperatures, mean precipitations and 19 bioclimatic variables, which are downscaled with statistical models integrating historical measures of meteorologic stations from 1979 to today. The exact method is explained in the reference papers [6] and [7]. The data is under Creative Commons Attribution 4.0 International License and downloadable at (http://chelsa-climate.org/downloads/). The 19 bioclimatic rasters are located in the directories named "chbio_X".

ROUTE500 1.1: This database register classified road linkages between cities (highways, national roads, and departmental roads) in France in shapefile format, representing approxi-mately 500,000 km of roads. It is produced under free license (all uses) by the IGN. Data are available online at http://osm13.openstreetmap.fr/~cquest/route500/. For deriving the variable “droute_fast”, the distance to the main roads networks, we computed with qGis the distance raster to the union of all elements of the shapefile ROUTES.shp (segments).

References :

[1] Panagos, P. (2006). The European soil database. GEO: connexion, 5(7), 32–33.

[2] Panagos, P., Van Liedekerke, M., Jones, A., Montanarella, L. (2012). European Soil Data
Centre: Response to European policy support and public data requirements. Land Use Policy,
29(2),329–338.

[3] Van Liedekerke, M. Jones, A. & Panagos, P. (2006). ESDBv2 Raster Library-a set of rasters
derived from the European Soil Database distribution v2. 0. European Commission and the
European Soil Bureau Network, CDROM, EUR, 19945.

[4] Zomer, R., Bossio, D., Trabucco, A., Yuanjie, L., Gupta, D. & Singh, V. (2007). Trees and
water: smallholder agroforestry on irrigated lands in Northern India.

[5] Zomer, R., Trabucco, A., Bossio, D. & Verchot, L. (2008). Climate change mitigation: A
spatial analysis of global land suitability for clean development mechanism afforestation and
reforestation. Agriculture, ecosystems & environment, 126(1), 67–80.

[6] Karger, D. N., Conrad, O., Bohner, J., Kawohl, T., Kreft, H., Soria-Auza, R.W. & Kessler,
M. (2016). Climatologies at high resolution for the earth’s land surface areas. arXiv preprint
arXiv:1607.00217.

[7] Karger, D. N., Conrad, O., Bohner, J., Kawohl, T., Kreft, H., Soria-Auza, R.W. & Kessler, M.
(2016). CHELSEA climatologies at high resolution for the earth’s land surface areas (Version
1.1).