This LiDAR point cloud dataset is collected with a research platform of Finnish Geospatial Research Institute (FGI), called Autonomous Research Vehicle Observatory (ARVO). The dataset was collected with Velodyne VLS-128 Alpha Puck LiDAR, 7th of September 2020 in a suburban environment in the area of Käpylä in Helsinki, the capital of Finland. The environment in the dataset consists of a straight two-way asphalt street, called Pohjolankatu, which starts from a larger controlled intersection at the crossing of Tuusulanväylä (60.213326° N, 24.942908° E in WGS84) and passes by three smaller uncontrolled intersections until the crossing of Metsolantie (60.215537° N, 24.950065° E). It is a typical suburban street with tram lines, sidewalks, small buildings, traffic signs, light poles, and cars parked on both sides of the streets. To collect a reference trajectory and to synchronize the LiDAR measurements, we have used a Novatel PwrPak7-E1 GNSS Inertial Navigation System (INS). The motion distortion of each individual scan has been corrected with a postprocessed GNSS INS trajectory and the scans have been registered with Normal Distributions Transform (NDT). Each point is provided with a semantic label probability vector and the final point cloud is averaged with a 1 cm voxel filter. The steps to create this preprocessed dataset have been described in more detail in the article "Towards High-Definition Maps: a Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity" published in IROS 2022. However, the number of points in each semantic segment in Table I in Section IV-A are different. The correct values are shown in the table below. This does not affect the results. **TABLE I: RandLA-Net classified dataset label proportions.** | **Semantic label** | **No. of points** | **% of all** | **% of used** | |---|---|---|---| | Ground | 14,206,060 | 32.3 | 50.3 | | Building | 7,782,757 | 17.7 | 27.6 | | Tree Trunk | 3,736,775 | 8.5 | 13.2 | | Fence | 2,201,851 | 5.0 | 7.8 | | Pole | 206,983 | 0.5 | 0.7 | | Traffic Sign | 85,316 | 0.2 | 0.3 | | Labels used here | 28,219,742 | 64.1 | 100.0 | | Others | 15,821,962 | 35.9 | | | Total | 44,041,704 | 100.0 | |

2022