SAGE-3D: Physics-Enabled Collision Meshes for 1,000 Indoor Scenes

SAGE-3D Collision Mesh provides high-precision collision geometry for 1,000 indoor scenes, released by spatialverse in late 2025. The data was generated using Isaac Sim 5.0 from InteriorGS scenes to support physical navigation within 3D Gaussian Splatting environments.

Use Cases

• Robotic path planning using collision meshes for obstacle avoidance
• Physics-based simulation of rigid body interactions in 3D Gaussian scenes
• Benchmarking image-to-3D geometry extraction against Isaac Sim ground truth

Strengths

• 1,000 indoor scenes
• Generated using Isaac Sim 5.0
• Aligned with InteriorGS data

Limitations

• Restricted to indoor environments
• CC-BY-NC-4.0 license restricts commercial use
• Synthetic nature may lack real-world sensor artifacts

Provenance

Source

spatialverse (Arxiv 2510.21307)

Collection Method

Extracted from InteriorGS data using Isaac Sim 5.0

Freshness

Last updated December 2025.