A large-scale RGB-D dataset
This dataset contains 10,800 aligned 3D panoramic views (RGB + depth per pixel) from 194,400 RGB + depth images of 90 building-scale scenes. All of these scenes were captured with Matterport’s Pro 3D Camera. The 3D models of the scenes have been hand-labeled with instance-level object segmentation. You can explore a wide range of Matterport 3D reconstructions interactively at https://matterport.com/gallery.