mlsanityData to 7 Oct 2026

A Dataset for Developing and Benchmarking Active Vision

arXiv 1702.08272 ↗First posted 27 Feb 2017cs.CVcited by 50

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Abstract (arXiv)

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured in 9 unique scenes. We train a fast object category detector for instance detection on our data. Using the dataset we show that, although increasingly accurate and fast, the state of the art for object detection is still severely impacted by object scale, occlusion, and viewing direction all of which matter for robotics applications. We next validate the dataset for simulating active vision, and use the dataset to develop and evaluate a deep-network-based system for next best move prediction for object classification using reinforcement learning. Our dataset is available for download at cs.unc.edu/~ammirato/active_vision_dataset_website/.

Key facts. Cited by 50 papers in the map (data through 7 Oct 2026). First posted on arXiv 27 Feb 2017.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 12; 2022: 10; 2023: 9; 2024: 11; 2025: 4; 2026: 4.

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  1. 2021Unconstrained Scene Generation with Locally Conditioned Radiance Fieldscited by 130
  2. 2021Vision-Language Navigation with Random Environmental Mixupcited by 70
  3. 2021SEAL: Self-supervised Embodied Active Learning using Exploration and 3D Consistencycited by 47
  4. 2021SAIL-VOS 3D: A Synthetic Dataset and Baselines for Object Detection and 3D Mesh Reconstruction from Video Datacited by 38
  5. 2023World Models and Predictive Coding for Cognitive and Developmental Robotics: Frontiers and Challengescited by 35
  6. 2021A Survey on Human-aware Robot Navigationcited by 23
  7. 2022Interactron: Embodied Adaptive Object Detectioncited by 21
  8. 2022Learning Active Camera for Multi-Object Navigationcited by 20
  9. 2021Interpretation of Emergent Communication in Heterogeneous Collaborative Embodied Agentscited by 19
  10. 2022DALL-E for Detection: Language-driven Compositional Image Synthesis for Object Detectioncited by 17
  11. 2023Evidential Active Recognition: Intelligent and Prudent Open-World Embodied Perceptioncited by 15
  12. 2022A Survey on RGB-D Datasetscited by 11
38 more
  1. 2024ActiView: Evaluating Active Perception Ability for Multimodal Large Language Modelscited by 11
  2. 2024Diffusion Models in 3D Vision: A Surveycited by 11
  3. 2023Learning to View: Decision Transformers for Active Object Detectioncited by 10
  4. 2023Beyond Generation: Harnessing Text to Image Models for Object Detection and Segmentationcited by 10
  5. 2025From Screens to Scenes: A Survey of Embodied AI in Healthcarecited by 10
  6. 2021Mask-ToF: Learning Microlens Masks for Flying Pixel Correction in Time-of-Flight Imagingcited by 9
  7. 2021Uncertainty Aware Proposal Segmentation for Unknown Object Detectioncited by 6
  8. 2024Which Viewpoint Shows it Best? Language for Weakly Supervising View Selection in Multi-view Instructional Videoscited by 6
  9. 2024MARS: Multimodal Active Robotic Sensing for Articulated Characterizationcited by 5
  10. 2021Towards real-world navigation with deep differentiable plannerscited by 4
  11. 2022Beyond Visual Field of View: Perceiving 3D Environment with Echoes and Visioncited by 4
  12. 2023Privacy Risks in Reinforcement Learning for Household Robotscited by 4
  13. 2023A High-Resolution Dataset for Instance Detection with Multi-View Instance Capturecited by 4
  14. 2023Self-Annotated 3D Geometric Learning for Smeared Points Removalcited by 3
  15. 2024Frequency-based Matcher for Long-tailed Semantic Segmentationcited by 3
  16. 2021Visual Attention in Imaginative Agentscited by 2
  17. 2022Object Pose Estimation using Mid-level Visual Representationscited by 2
  18. 2022Robot Learning Theory of Mind through Self-Observation: Exploiting the Intentions-Beliefs Synergycited by 2
  19. 2023Labeling Indoor Scenes with Fusion of Out-of-the-Box Perception Modelscited by 2
  20. 2024TiROD: Tiny Robotics Dataset and Benchmark for Continual Object Detectioncited by 2
  21. 2024Structured Spatial Reasoning with Open Vocabulary Object Detectorscited by 2
  22. 2024UEVAVD: A Dataset for Developing UAV's Eye View Active Object Detectioncited by 2
  23. 2025Tactile MNIST: Benchmarking Active Tactile Perceptioncited by 2
  24. 2025Co-VisiON: Co-Visibility ReasONing on Sparse Image Sets of Indoor Scenescited by 2
  25. 2022Self-supervised Pre-training for Semantic Segmentation in an Indoor Scenecited by 1
  26. 2022Grasping the Inconspicuouscited by 1
  27. 20243D Semantic MapNet: Building Maps for Multi-Object Re-Identification in 3Dcited by 1
  28. 2024Enhancing Agricultural Environment Perception via Active Vision and Zero-Shot Learningcited by 1
  29. 2024Switch-a-View: View Selection Learned from Unlabeled In-the-wild Videoscited by 1
  30. 2026Multimodal Benchmark for Safety Assessment in Industrial Inspection Scenarioscited by 1
  31. 2026Toward Active Object Detection for UAVs in the Wild: A Large-Scale Dataset, Benchmark and Methodcited by 1
  32. 2021Gram-SLD: Automatic Self-labeling and Detection for Instance Objectscited by 0
  33. 2021Embodied Learning for Lifelong Visual Perceptioncited by 0
  34. 2022Review on 6D Object Pose Estimation with the focus on Indoor Scene Understandingcited by 0
  35. 2023Deep Active Perception for Object Detection using Navigation Proposalscited by 0
  36. 2025Intelligent Power Grid Design Review via Active Perception-Enabled Multimodal Large Language Modelscited by 0
  37. 2026See, Act, Adapt: Active Perception for Unsupervised Cross-Domain Visual Adaptation via Personalized VLM-Guided Agentcited by 0
  38. 2026Robo-Cortex: A Self-Evolving Embodied Agent via Dual-Grain Cognitive Memory and Autonomous Knowledge Inductioncited by 0