Washington RGB-D Scenes v2

The RGB-D Scenes Dataset v2 consists of 14 scenes containing furniture (chair, coffee table, sofa, table) and a subset of the objects in the RGB-D Object Dataset (bowls, caps, cereal boxes, coffee mugs, and soda cans). Each scene is a point cloud created by aligning a set of video frames using Patch Volumes Mapping.

Source: https://rgbd-dataset.cs.washington.edu/dataset/rgbd-scenes-v2/ Image Source: https://arxiv.org/abs/1904.02530