This is the introductions of UrbanScene3D: A Large Scale Urban Scene Dataset and Simulator. [paper], [Project page]

Figure 1: Overview of UrbanScene3D.

We present a large scale urban scene dataset associated with a handy simulator based on Unreal Engine 4 and AirSim, which consists of both man-made and real-world reconstruction scenes in different scales, referred to as UrbanScene3D . The manually made scene models have compact structures, which are carefully constructed/designed by professional modelers according to the images and maps of target areas; see the first row of Figure 1 for a glance. In contrast, UrbanScene3D also offers dense, detailed scene models reconstructed by aerial images through multi-view stereo (MVS) techniques. These scenes have realistic textures and meticulous structures; see e.g., the second row of Figure 1. We have also released the originally captured aerial images that have been used to reconstruct the 3D scene models, as well as a set of 4K video sequences, all of which would facilitate designing algorithms, such SLAM and MVS; please check some samples shown in the third and fourth rows of Figure 1.

Video 1: Touring a virtual city scene. Note that users can obtain the corresponding CAD models associated with instance segmentation.

Video 2: Touring the real-world scenes. Note that these scenes are reconstructed by real-world aerial images, thus they have detailed geometries, structures and realistic textures. The instance segmentation is available as well.

Video 3: A real-world model reconstructed with aerial images captured from optimized 3D views.

Video 4: A sample of aerial videos aimed at 3D urban scene acquisition.

Video 5: Applications of our dataset and simulator, e.g., autonomous driving, drone navigation, and intelligent aerial acquisition.

Note that all DATA and CODE are free for Research and Education Use ONLY. Please cite our paper if you use any part of our ALGORITHM, CODE, DATA or RESULTS in any publication.

• Download via Baidu Netdisk (code: vccc, recommend)
• Download via Dropbox (faster outside China, recommend)
• Download via HTTP
• Download via FTP (ftp://nas.moutong.org/dataset/UrbanScene3D-VCC.zip)
• Dataset Description Download via arXiv

(Note: In Baidu Netdisk and Dropbox, we have compressed the files in volume. Please download all the files and extract the main compression package)

The released zip file contains the unreal project of the above proposed urban scenes. As Video 5 shown, users can use either pure Unreal Engine or AirSim client (both in C++ or python) to capture their desired data. The ground truth textured meshes and their relevant poses are also provided in the Unreal project.

​ Required packages:

• Unreal Engine 4 (4.24 is recommended)
• C++ or Python
• AirSim(Optional)

If you find UrbanScene3D useful in your research, please consider citing:

@article{UrbanScene3D,
title={UrbanScene3D: A Large Scale Urban Scene Dataset and Simulator},
author={Yilin Liu and Fuyou Xue and Hui Huang},
eprint={2107.04286},
archivePrefix={arXiv},
year={2021},
}