ShapeNet: An Information-Rich 3D Model Repository Authors listed alphabetically We present ShapeNet: a richly-annotated, large-scale repository of shapes represented by 3D CAD models of ob-jects. ShapeNet contains 3D models from a multitude of semantic categories and organizes them under the Word-Net taxonomy. It is a collection of datasets providing many semantic annotations for each 3D model such as consis-tent rigid alignments, parts and bilateral symmetry planes,