BRIDGE: Building Plan Repository for Image Description Generation, and Evaluation In this paper, a large scale public dataset containing floor plan images and their annotations is presented. BRIDGE (Building plan Repository for Image Description Generation, and Evaluation) dataset contains more than 13000 images of the floor plan and annotations collected from various websites, as well as publicly available floor plan images in the research domain. The images in BRIDGE also has annotations for symbols, region graphs, and paragraph descriptions. The BRIDGE dataset will be useful for symbol spotting, caption and description generation, scene graph synthesis, retrieval and many other tasks involving building plan parsing. In this paper, we also present an extensive experimental study for tasks like furniture localization in a floor plan, caption and description generation, on the proposed dataset showing the utility of BRIDGE.

DISCOMAN: Dataset of Indoor SCenes for Odometry, Mapping And Navigation We present a novel dataset for training and benchmarking semantic SLAM methods. The dataset consists of 200 long sequences, each one containing 30005000 data frames. We generate the sequences using realistic home layouts. For that we sample trajectories that simulate motions of a simple home robot, and then render the frames along the trajectories. Each data frame contains a) RGB images generated using physicallybased rendering, b) simulated depth measurements, c) simulated IMU readings and d) ground truth occupancy grid of a house. Our dataset serves a wider range of purposes compared to existing datasets and is the first largescale benchmark focused on the mapping component of SLAM. The dataset is split into trainvalidationtest parts sampled from different sets of virtual houses. We present benchmarking results for both classical geometrybased 1, 2 and recent learningbased 3 SLAM algorithms, a baseline mapping method 4, semantic segmentation 5 and panoptic segmentation 6. The dataset and source code for reproducing our experiments will be publicly available at the time of publication.