UrbanScene3D is an outdoor high-precision large scene dataset with 3D building instance annotations. The dataset contains 6 virtual scenes composed of lightweight CAD models (with distinct geometric features and simple structures), and 5 real scenes (with realistic visual effects and multi-scale detailed structures) reconstructed from a large number of drone aerial images with multi-view dense reconstruction.

All provided scenes are carefully instance-annotated and contain multiple types of data (depth maps, 2D/3D instance segmentation maps, 3D point clouds/mesh models, radar point clouds).

UrbanScene3D also provides original aerial photos of real scenes and corresponding camera postures, as well as real-time 4K high-definition videos of some drones for full-space data collection, which can be used for SLAM, MVS and other algorithm testing.