NaviGS: 3D Gaussian Splatting Dataset of Real-World Scenes

✅ First Release · v1.0 is out, with subsequent versions coming soon.

NaviGS is a real-world 3D Gaussian Splatting (3DGS) dataset comprising 120 high-fidelity indoor and outdoor scenes, covering over 50,000 m² across 10 diverse scene categories. The dataset provides RGB images, depth observations, LiDAR data, camera poses, 3D Gaussian Splatting (3DGS) representations, reconstructed meshes, and hierarchical scene graphs.

The first phase of the dataset includes 5 RGB scenes and 5 semantic scenes.

Dataset Structure

NaviGS/
├── RGB_scene/
│   ├── scene_0/
│   │   ├── RGB/
│   │   ├── depth/
│   │   ├── lidar/
│   │   ├── pose/
│   │   ├── 3dgs/
│   │   └── mesh/
│   ├── scene_1/
│   ├── scene_2/
│   ├── scene_3/
│   └── scene_4/
│
└── semantic_scene/
    ├── apartment0/
    │   ├── RGB/
    │   ├── depth/
    │   ├── lidar/
    │   ├── pose/
    │   ├── 3dgs/
    │   ├── mesh/
    │   └── scenegraph/
    ├── apartment1/
    ├── apartment2/
    ├── resthome0/
    └── meetingroom0/

Data Organization

RGB Scenes

The RGB_scene directory contains five scenes. Each scene includes:

• RGB/ — RGB images
• depth/ — Depth observations
• lidar/ — LiDAR point cloud
• pose/ — Camera poses and trajectories
• 3dgs/ — 3D Gaussian Splatting representations
• mesh/ — Reconstructed meshes

Semantic Scenes

The semantic_scene directory contains five scenes with semantic and hierarchical scene understanding annotations.

Each semantic scene includes:

• RGB/ — RGB images
• depth/ — Depth observations
• lidar/ — LiDAR point cloud
• pose/ — Camera poses and trajectories
• 3dgs/ — 3D Gaussian Splatting representations
• mesh/ — Reconstructed meshes
• scenegraph/ — Hierarchical 3D scene graphs

The scene graphs follow the hierarchical floor–room–stuff–object organization and provide semantic and spatial relationships between scene elements.

Scenes

RGB Scenes

• scene_0
• scene_1
• scene_2
• scene_3
• scene_4

Semantic Scenes

• apartment0
• apartment1
• apartment2
• resthome0
• meetingroom0

Release

First Release · v1.0 is out! The initial release includes 5 RGB scenes and 5 semantic scenes.

The dataset is now available for download on Hugging Face.

More documentation, usage instructions, and updates will be provided in subsequent releases.

License

NaviGS is released under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License (CC BY-NC-SA 4.0).

You are free to share and adapt the dataset for non-commercial purposes, provided that you give appropriate credit, indicate any changes, and distribute adaptations under the same license.

For details, please refer to the full license terms.

Citation

If you use NaviGS in your research, please cite:

@misc{navigs2026,
  title        = {NaviGS: 3D Gaussian Splatting Dataset of Real-World Scenes},
  author       = {Zhejiang Humanoid Robot Innovation Center},
  year         = {2026},
  howpublished = {\url{https://github.com/zj-humanoid/NaviGS}}
}