In this paper, we propose RGBD20K, a novel dataset for facilitating the development of more robust and general RGB-D semantic segmentation by encompassing abundant categories and high-quality annotations. RGBD20K possesses several attractive properties: (1) Expanded Semantic Space.

In particular, it covers 160 fine-grained categories, largely surpassing the category diversity of existing popular RGB-D benchmarks (e.g., NYUv2 with 40 classes and SUN RGB-D with 37 classes). With such enriched semantic coverage, we expect to promote the learning of more generalizable segmentation models.

(2) Larger Scale. Compared with current benchmarks, RGBD20K offers 20,000 RGB-D image pairs, providing a substantially larger training resource that benefits the development of more powerful deep models.

(3) High-Fidelity Annotation. We perform rigorous re-evaluation and correction of existing labels to resolve long-standing annotation noise, resulting in a clean and reliable ground-truth foundation.

Furthermore, we propose a novel score-purified fusion (SPF) method, which achieves state-of-the-art performance across all evaluated benchmarks, demonstrating the effectiveness of our approach in leveraging high-quality multimodal information for RGB-D semantic segmentation. The dataset is here: https://github.com/ShaohuaDong2021/RGBD20K/.