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research-datasets

AdobeIndoorNav Dataset

Dataset Overview

Figure 1. The AdobeIndoorNav Dataset and other 3D scene datasets. Our dataset supports research on robot visual navigation in real-world scenes. It provides visual inputs given a robot position: (a) the original 3D point cloud reconstruction; (b) the densely sampled locations shown on 2D scene map; (c) four examples RGB images captured by robot camera and their corresponding locations and poses. Sample views from 3D synthetic and real-world recontructed scene datasets: (d) Observation images from two synthetic datasets: SceneNet RGB-D and AI2-THOR; (e) Rendered images from two real-world scene datasets: Stanford 2D-3D-S and ScanNet.

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