Annotated 3D Reconstructions of Building Facilities

By Thomas Czerniawski and Fernanda Leite

@ The University of Texas at Austin

3DFacilities is an annotated RGB-D dataset of building facilities. It currently contains over 25,000 individual RGB-D frames and 110 scene reconstructions each with instance level annotations.

Click here to watch a demo of the data collection app.

Click here to watch a short presentation about the project (I recommend 1.25x speed).


Obtain Access

Please complete the 3DFacilities Terms of Use form and mail it to tczernia@utexas.edu before downloading from Zenodo.

Semantic Segmentation Class Index



The creation of 3DFacilities was supported by the National Science Foundation (NSF) under award number 1562438.