Stanford Large-Scale 3D Indoor Spaces Dataset (S3DIS)

The Stanford Large-Scale 3D Indoor Spaces (S3DIS) dataset is composed of the colored 3D point clouds of six large-scale indoor areas from three different buildings, each covering approximately 935, 965, 450, 1700, 870, and 1100 square meters (total of 6020 square meters). These areas show diverse properties in architectural style and appearance and include mainly office areas, educational and exhibition spaces, and conference rooms, personal offices, restrooms, open spaces, lobbies, stairways, and hallways are commonly found therein. The entire point clouds are automatically generated without any manual intervention using the Matterport scanner. The dataset also includes semantic instance annotations on the point clouds for 12 semantic elements, which are structural elements (ceiling, floor, wall, beam, column, window, and door) and commonly found items and furniture (table, chair, sofa, bookcase, and board).