@article{dai2017scannet,
  title={ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes},
  author={Dai, Angela and Chang, Angel X. and Savva, Manolis and Halber, Maciej and Funkhouser, Thomas and Nie{\ss}ner, Matthias},
  journal={http://arxiv.org/abs/1702.04405},
  year={2017}
}