ARKitScenes is a dataset of scans of indoor spaces. It is not only the first RGB-D dataset captured with the now widely used depth sensors, but also the largest indoor scene understanding dataset published so far.

The dataset contains more than 5,000 scans of approximately 1,600 different indoor spaces. In addition to raw and processed data from mobile devices, ARKitScenes also includes high-resolution depth maps captured using a stationary laser scanner, and manually annotated 3D oriented bounding boxes for large furniture classification.