List of Datasets

Handheld, Other

InteriorNet

Synthetic indoor visual-inertial SLAM and semantic perception

Rendered indoor trajectories and diverse still views supply geometry, semantics and simulated inertial measurements.

Metadata: Complete Metadata source documented Released 2018

Primary places to inspect, download, read about, or reproduce the dataset.

Code

Not reported

Quick facts

Vehicle type
Handheld, Other
Environment
Indoor
Data origin
Simulation
Sensor count
3
Ground truth
Available
Calibration
Parameters Only
Annotations
Available

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

2 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
6DoF Other ViSim synthetic trajectory Not reported 25 Hz Full Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Reference notes
Simulator control poses and shutter endpoint poses; not independent physical truth.
Other Other ExaRenderer ray intersection Not reported 25 Hz Full Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Reference notes
Euclidean ray distance, distinct from optional Kinect-like noisy depth.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Official format documents cam0.info intrinsics and cam0.ccam intrinsics/extrinsics, timestamped control poses and renderer settings. Parameters are synthetic; physical calibration sessions do not apply.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Image access requires an agreement form and links sent by the authors. Furniture models/layouts require separate asset permission; the entire professional design database is not promised as a public download.

Rendered sequences, still images, source layouts and furniture assets have different denominators. Rounded proposed totals are not an exact current downloadable inventory.

Default 640x480 at 25 fps and example 800 Hz IMU settings do not describe every configurable render. Event, alternative-lens and stereo capabilities do not establish their complete downloadable subsets.

Pose, semantics, optical flow and ray-distance depth share simulator geometry. Ideal/noisy measurements and Euclidean ray depth differ from physical sensor behavior or axial depth.

Random image splits can share related layouts; they do not imply scene-disjoint evaluation. Exact current package counts, storage totals and variant coverage remain unverified.

Cameras

Camera 1

Model
ExaRenderer virtual camera
Setup
Rgbd
Count
1
Effective cameras
2
Modality
Rgbd
Resolution
640 x 480
Rate
25 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Default virtual trajectory observation; configurable stereo/other lens modes are separate capabilities.

IMUs

ViSim virtual IMU

Model
ViSim simulated IMU
Count
1
Accel / gyro
800 / 800 Hz

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Available
Format
Rendered asset-derived semantics/instances/flow, 3D object extents and ray-distance depth; NYU40 mapping alongside manufacturer taxonomy.
Class count
Not reported
Semantic segmentation Available
Instance segmentation Available
Object detection Available
Optical flow Available
Depth ground truth Available

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
li2018interiornet

BibTeX

@misc{li2018interiornet,
  author = {{Wenbin Li} and {Sajad Saeedi} and {John McCormac} and {Ronald Clark} and {Dimos Tzoumanikas} and {Qing Ye} and {Yuzhong Huang} and {Rui Tang} and {Stefan Leutenegger}},
  title = {InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset},
  year = {2018},
  eprint = {1809.00716},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1809.00716v1}
}

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