SceneNet RGB-D

SceneNet-RGBD is a synthetic dataset containing large-scale photorealistic renderings of indoor scene trajectories with pixel-level annotations. Random sampling permits virtually unlimited scene configurations, and the dataset creators provide a set of 5M rendered RGB-D images from over 15K trajectories in synthetic layouts with random but physically simulated object poses. Each layout also has random lighting, camera trajectories, and textures. The scale of this dataset is well suited for pre-training data-driven computer vision techniques from scratch with RGB-D inputs, which previously has been limited by relatively small labelled datasets in NYUv2 and SUN RGB-D. It also provides a basis for investigating 3D scene labelling tasks by providing perfect camera poses and depth data as proxy for a SLAM system.

Source: ViewAL: Active Learning with Viewpoint Entropy for Semantic Segmentation Image Source: https://robotvault.bitbucket.io/scenenet-rgbd.html