1. https://github.com/leo-stan/particles_detection_fsr， has data & code.
  3. Data: collect themselves, Velodyne HDL-32E LiDAR
  4. Comparison只和自己的上一篇比较了。
    1. Lidar-based detection of airborne particles for robust robot perception, icra 18
  5. 利用了multi-echo信息
    1. 比较2个简单网络
      1. voxel based: VoxelNet, acra 18 用过了
      2. image based: UNet

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Airborne particle classification in lidar point clouds using deep learning. In Field and Service Robotics: Results of the 12th International Conference. Springer, 2021.