The Replica Dataset is a dataset of high quality reconstructions of a variety of indoor spaces. Each reconstruction has clean dense geometry, high resolution and high dynamic range textures, glass and mirror surface information, planar segmentation as well as semantic class and instance segmentation.
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A rich, extensible and efficient environment that contains 45,622 human-designed 3D scenes of visually realistic houses, ranging from single-room studios to multi-storied houses, equipped with a diverse set of fully labeled 3D objects, textures and scene layouts, based on the SUNCG dataset (Song et.al.)
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