RGB-D scans of 478 indoor spaces, each rescanned over time as objects moved, 1,482 scans in all (Wald and others, 2019). The base of the 3DSSG scene graph benchmark. Website Mentioned in 5 papers: OASIS-Map (2026) 3DSG survey (2026) Open3DSG (2024) 3D VSG (2023) 3DSSG (2020)