@article{scenenetrgbd5mphotorealisticimagesof,
  title = {SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth},
  author = {John McCormac and Ankur Handa and Stefan Leutenegger and Andrew J. Davison},
  year = {2016},
  eprint = {1612.05079},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1612.05079v3},
}