Matterport3D Dataset:  https://niessner.github.io/Matterport/
Replica Dataset:  https://github.com/facebookresearch/Replica-Dataset
Residential Dataset: https://drive.google.com/drive/folders/16gtKsBxyj6Uq-PWKe1QD2Xp9qID-Kr7n
(Dataset details refer to https://github.com/tedyhabtegebrial/SoftOcclusionMSI)