S3DIS

S3DIS is composed of five large-scale indoor areas from three different buildings, each covering approximately 1900, 450, 1700, 870 and 1100 square meters (total of 6020 square meters). These areas show diverse properties in architectural style and appearance and include mainly office areas, educational and exhibition spaces, and conference rooms, personal offices, restrooms, open spaces, lobbies, stairways, and hallways are commonly found therein. One of the areas includes multiple floors, whereas the rest have one. The entire point clouds are automatically generated without any manual intervention using the Matterport scanner. It has 12 semantic elements, which are structural elements (ceiling, floor, wall, beam, column, window and door) and commonly found items and furniture (table, chair, sofa, bookcase and board).