Gibson Database of 3D Spaces
Gibson’s underlying database of spaces includes 572 full buildings composed of 1447 floors covering a total area of 211k m2s.
The database is collected from real indoor spaces using 3D scanning and reconstruction. For each space, we provide: the 3D reconstruction, RGB images, depth, surface normal, and for a fraction of the spaces, semantic object annotations. In this page you can see various visualizations for each space, including 3D dissections, exploration using a randomly controlled husky agent, and standard point-to-point navigation episodes (more info).
Visit here for downloading the data.