Ghost-FWL：面向鬼影检测与消除的大规模全波形激光雷达数据集

摘要

激光雷达已成为自动驾驶、机器人技术和智慧城市应用中的核心传感手段。然而，由玻璃和反射表面多路径激光回波产生的鬼点（虚假反射点）会严重降低三维建图与定位精度。现有鬼点去除方法依赖稠密点云中的几何一致性，难以处理移动激光雷达稀疏动态数据的场景。为此，我们利用全波形激光雷达技术——该技术通过捕获完整的时间强度剖面而非仅峰值距离，为移动场景中区分真实反射与鬼点提供了关键线索。针对这一新任务，我们推出首个面向移动全波形雷达鬼点检测与去除的最大标注数据集Ghost-FWL。该数据集涵盖10个多样化场景的2.4万帧数据，包含75亿个峰值级标注，规模达现有标注全波形数据集的100倍。基于此大规模数据集，我们建立了全波形鬼点检测的基线模型，并提出FWL-MAE掩码自编码器，用于全波形数据的高效自监督表征学习。实验表明，我们的基线模型在鬼点去除准确率上超越现有方法，且鬼点去除技术能显著提升下游任务性能：基于激光雷达的SLAM轨迹误差降低66%，三维目标检测的误报率减少50倍。数据集与代码已公开，可通过项目页https://keio-csg.github.io/Ghost-FWL获取。

English

LiDAR has become an essential sensing modality in autonomous driving, robotics, and smart-city applications. However, ghost points (or ghosts), which are false reflections caused by multi-path laser returns from glass and reflective surfaces, severely degrade 3D mapping and localization accuracy. Prior ghost removal relies on geometric consistency in dense point clouds, failing on mobile LiDAR's sparse, dynamic data. We address this by exploiting full-waveform LiDAR (FWL), which captures complete temporal intensity profiles rather than just peak distances, providing crucial cues for distinguishing ghosts from genuine reflections in mobile scenarios. As this is a new task, we present Ghost-FWL, the first and largest annotated mobile FWL dataset for ghost detection and removal. Ghost-FWL comprises 24K frames across 10 diverse scenes with 7.5 billion peak-level annotations, which is 100x larger than existing annotated FWL datasets. Benefiting from this large-scale dataset, we establish a FWL-based baseline model for ghost detection and propose FWL-MAE, a masked autoencoder for efficient self-supervised representation learning on FWL data. Experiments show that our baseline outperforms existing methods in ghost removal accuracy, and our ghost removal further enhances downstream tasks such as LiDAR-based SLAM (66% trajectory error reduction) and 3D object detection (50x false positive reduction). The dataset and code is publicly available and can be accessed via the project page: https://keio-csg.github.io/Ghost-FWL

Ghost-FWL：面向鬼影检测与消除的大规模全波形激光雷达数据集

Ghost-FWL: A Large-Scale Full-Waveform LiDAR Dataset for Ghost Detection and Removal

摘要

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