mlsanityData to 7 Oct 2026

A Large Dataset of Object Scans

arXiv 1602.02481 ↗First posted 8 Feb 2016cs.CV cs.GRcited by 64

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Abstract (arXiv)

We have created a dataset of more than ten thousand 3D scans of real objects. To create the dataset, we recruited 70 operators, equipped them with consumer-grade mobile 3D scanning setups, and paid them to scan objects in their environments. The operators scanned objects of their choosing, outside the laboratory and without direct supervision by computer vision professionals. The result is a large and diverse collection of object scans: from shoes, mugs, and toys to grand pianos, construction vehicles, and large outdoor sculptures. We worked with an attorney to ensure that data acquisition did not violate privacy constraints. The acquired data was irrevocably placed in the public domain and is available freely at http://redwood-data.org/3dscan .

Key facts. Cited by 64 papers in the map (data through 7 Oct 2026). First posted on arXiv 8 Feb 2016.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 13; 2022: 19; 2023: 14; 2024: 8; 2025: 6; 2026: 4.

64 papers.

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  1. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,522
  2. 2021Depth-supervised NeRF: Fewer Views and Faster Training for Freecited by 732
  3. 2021Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstructioncited by 646
  4. 2022LION: Latent Point Diffusion Models for 3D Shape Generationcited by 552
  5. 20213D Shape Generation and Completion through Point-Voxel Diffusioncited by 516
  6. 2021ABO: Dataset and Benchmarks for Real-World 3D Object Understandingcited by 360
  7. 2023SparseNeRF: Distilling Depth Ranking for Few-shot Novel View Synthesiscited by 247
  8. 2023MVImgNet: A Large-scale Dataset of Multi-view Imagescited by 219
  9. 2021Self-Supervised Pretraining of 3D Features on any Point-Cloudcited by 217
  10. 2022NeRF: Neural Radiance Field in 3D Vision: A Comprehensive Review (Updated Post-Gaussian Splatting)cited by 156
  11. 2021NeRS: Neural Reflectance Surfaces for Sparse-view 3D Reconstruction in the Wildcited by 136
  12. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
38 more
  1. 2022ShapeFormer: Transformer-based Shape Completion via Sparse Representationcited by 106
  2. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  3. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  4. 2023Point-Cloud Completion with Pretrained Text-to-image Diffusion Modelscited by 37
  5. 20213D Spatial Recognition without Spatially Labeled 3Dcited by 31
  6. 2021DSP-SLAM: Object Oriented SLAM with Deep Shape Priorscited by 30
  7. 2022Common Pets in 3D: Dynamic New-View Synthesis of Real-Life Deformable Categoriescited by 29
  8. 2022StructNeRF: Neural Radiance Fields for Indoor Scenes with Structural Hintscited by 28
  9. 2021Self-supervised Geometric Perceptioncited by 26
  10. 2023Robust Zero Level-Set Extraction from Unsigned Distance Fields Based on Double Coveringcited by 21
  11. 2022PeRFception: Perception using Radiance Fieldscited by 19
  12. 2023Are These the Same Apple? Comparing Images Based on Object Intrinsicscited by 19
  13. 2023Fantastic Breaks: A Dataset of Paired 3D Scans of Real-World Broken Objects and Their Complete Counterpartscited by 18
  14. 2023MobileBrick: Building LEGO for 3D Reconstruction on Mobile Devicescited by 15
  15. 2025PartSAM: A Scalable Promptable Part Segmentation Model Trained on Native 3D Datacited by 15
  16. 2023VET: Visual Error Tomography for Point Cloud Completion and High-Quality Neural Renderingcited by 14
  17. 20223D Concept Grounding on Neural Fieldscited by 13
  18. 2021Rotation Averaging in a Split Second: A Primal-Dual Method and a Closed-Form for Cycle Graphscited by 12
  19. 2021Gradient-SDF: A Semi-Implicit Surface Representation for 3D Reconstructioncited by 12
  20. 2023Rearrangement Planning for General Part Assemblycited by 12
  21. 2022A Survey on RGB-D Datasetscited by 11
  22. 2024SPAFormer: Sequential 3D Part Assembly with Transformerscited by 11
  23. 2024Diffusion Models in 3D Vision: A Surveycited by 11
  24. 2024GT23D-Bench: A Comprehensive General Text-to-3D Generation Benchmarkcited by 11
  25. 2022TO-Scene: A Large-scale Dataset for Understanding 3D Tabletop Scenescited by 10
  26. 2023High-Resolution Synthetic RGB-D Datasets for Monocular Depth Estimationcited by 10
  27. 2022A Real World Dataset for Multi-view 3D Reconstructioncited by 9
  28. 2025PointSea: Point Cloud Completion via Self-structure Augmentationcited by 9
  29. 2025GenPC: Zero-shot Point Cloud Completion via 3D Generative Priorscited by 9
  30. 2026LaS-Comp: Zero-shot 3D Completion with Latent-Spatial Consistencycited by 9
  31. 2022HRBF-Fusion: Accurate 3D reconstruction from RGB-D data using on-the-fly implicitscited by 8
  32. 2022Semantic keypoint-based pose estimation from single RGB framescited by 7
  33. 2022SDFEst: Categorical Pose and Shape Estimation of Objects from RGB-D using Signed Distance Fieldscited by 7
  34. 2023LiveNVS: Neural View Synthesis on Live RGB-D Streamscited by 6
  35. 2024ComPC: Completing a 3D Point Cloud with 2D Diffusion Priorscited by 6
  36. 2021Consistent Two-Flow Network for Tele-Registration of Point Cloudscited by 5
  37. 2022HM3D-ABO: A Photo-realistic Dataset for Object-centric Multi-view 3D Reconstructioncited by 4
  38. 2024Scale-Invariant Monocular Depth Estimation via SSI Depthcited by 4

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