scene
3D Scene Datasets
| Dataset | Type | Scale | Object / Scene Annotations | Note |
|---|---|---|---|---|
| ProcTHOR, ProcTHOR-10k | Interior scenes CAD models Synthetic | 10K with diverse multi-room layouts 1,633 interactive household objects across 108 categories, with 3,278 materials. | Compatible with AI2-THOR. Meshes can be extracted via Unity with YandanYang/ai2thor for usage in other simulators. | |
| Replica | Interior scenes Scanned meshes | 18 in initial release with a few single-room layouts | 3D Sematic segmentation; Navmesh. | |
| [Aria Ditgital Twin Dataset](https://www.projectaria.com/datasets/adt/)** | Interior scenes Digital twin with CAD models | 398 objects (324 stationary, 74 dynamic) 2 real indoor scenes | FPV activities within 200 RGB-D sequences(~400 mins), with device trajectory, semantic segmentation, 2D/3D bounding boxes, skeleton, and eye gaze. | |
| Aria Synthetic Environments | Interior scenes CAD models Synthetic | 10K scenes ~8000 3D objects | Simulated cam RGBD with semantics segmentation, and 2D bounding box; 3D floor plan. | |
| HyperSim | Interior scenes CAD models | 461 scenes | ~77K rendered images with camera trajectory, and 3D bounding boxes. | Built upon some bundles of Evermotion interior data, available here. Comes with the Hypersim Toolkit |
| 3D Front | Interior scenes CAD models | 18K rooms, 7K furniture | Comes with a rendering tool called "Trescope" for 2D rendering with annotations. | |
| Matterport 3D Habitat-Matterport 3D | Interior scenes Scanned meshes / CAD models | M3D: 10,800 panoramic views from 90 scanned scenes HM3D: 1,000 scenes/digital twins. | Semantic and instance segmentation. |