MultiScan: Scalable RGBD scanning for 3D environments with articulated objects

We introduce MultiScan, a scalable RGBD dataset construction pipeline leveraging commodity mobile devices to scan indoor scenes with articulated objects and web-based semantic annotation interfaces to efficiently annotate object and part semantics and part mobility parameters. We use this pipeline to collect 273 scans of 117 indoor scenes containing 10957 objects and 5129 parts. The resulting MultiScan dataset provides RGBD streams with per-frame camera poses, textured 3D surface meshes, richly annotated part-level and object-level semantic labels, and part mobility parameters.