Rohbau3D: A Shell Construction Site 3D Point Cloud Dataset.

Abstract

We introduce Rohbau3D, a novel dataset of 3D point clouds that realistically represents indoor construction environments. The dataset comprises 504 high-resolution LiDAR scans captured with a terrestrial laser scanner across 14 distinct construction sites from high-rise buildings, all in various stages of shell construction or under renovation. Each point cloud is enriched with the scalar laser reflectance intensity, RGB color values, and reconstructed surface normal vectors. In addition to the 3D data, the dataset includes high-resolution 2D panoramic renderings of each scene and their associated point cloud features. Designed to reflect the complexity and variability of construction site data and released to address the shortage of real-world data for geometric processing in construction applications, Rohbau3D facilitates research into scene understanding and computer vision for structural and civil engineering. To our knowledge, it is the first dataset of its kind and scale to be published. Rohbau3D is designed as a foundation for ongoing work, with intention to extend it through additional targeted annotations and as a benchmark to support future research.