mlsanityData to 7 Oct 2026

Objectron: A Large Scale Dataset of Object-Centric Videos in the Wild with Pose Annotations

arXiv 2012.09988 ↗First posted 18 Dec 2020cs.CVcited by 155

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Abstract (arXiv)

3D object detection has recently become popular due to many applications in robotics, augmented reality, autonomy, and image retrieval. We introduce the Objectron dataset to advance the state of the art in 3D object detection and foster new research and applications, such as 3D object tracking, view synthesis, and improved 3D shape representation. The dataset contains object-centric short videos with pose annotations for nine categories and includes 4 million annotated images in 14,819 annotated videos. We also propose a new evaluation metric, 3D Intersection over Union, for 3D object detection. We demonstrate the usefulness of our dataset in 3D object detection tasks by providing baseline models trained on this dataset. Our dataset and evaluation source code are available online at http://www.objectron.dev

Key facts. Cited by 155 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Dec 2020.

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Citing papers per year: 2021: 11; 2022: 36; 2023: 31; 2024: 24; 2025: 24; 2026: 29.

155 papers.

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  1. 2021Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstructioncited by 646
  2. 2023DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Visioncited by 514
  3. 2021ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Datacited by 442
  4. 2021ABO: Dataset and Benchmarks for Real-World 3D Object Understandingcited by 360
  5. 2022MAGVIT: Masked Generative Video Transformercited by 341
  6. 2023OmniObject3D: Large-Vocabulary 3D Object Dataset for Realistic Perception, Reconstruction and Generationcited by 324
  7. 2023Unified-IO 2: Scaling Autoregressive Multimodal Models with Vision, Language, Audio, and Actioncited by 301
  8. 2023MVImgNet: A Large-scale Dataset of Multi-view Imagescited by 219
  9. 2023Aria Digital Twin: A New Benchmark Dataset for Egocentric 3D Machine Perceptioncited by 166
  10. 2022Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wildcited by 159
  11. 2022NeRF: Neural Radiance Field in 3D Vision: A Comprehensive Review (Updated Post-Gaussian Splatting)cited by 156
  12. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
38 more
  1. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  2. 2023RelPose++: Recovering 6D Poses from Sparse-view Observationscited by 87
  3. 2025Visual Spatial Tuningcited by 85
  4. 2022Perspective Fields for Single Image Camera Calibrationcited by 75
  5. 2022Benchmarking and Analyzing Point Cloud Classification under Corruptionscited by 70
  6. 2022Removing Objects From Neural Radiance Fieldscited by 66
  7. 2024CameraHMR: Aligning People with Perspectivecited by 64
  8. 2024Advances in 3D Generation: A Surveycited by 62
  9. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  10. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  11. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  12. 2023NAVI: Category-Agnostic Image Collections with High-Quality 3D Shape and Pose Annotationscited by 53
  13. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  14. 2022ViewFool: Evaluating the Robustness of Visual Recognition to Adversarial Viewpointscited by 48
  15. 2021FiG-NeRF: Figure-Ground Neural Radiance Fields for 3D Object Category Modellingcited by 47
  16. 2023HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructionscited by 47
  17. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  18. 2023EgoObjects: A Large-Scale Egocentric Dataset for Fine-Grained Object Understandingcited by 39
  19. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  20. 2022Transframer: Arbitrary Frame Prediction with Generative Modelscited by 37
  21. 2023Tame a Wild Camera: In-the-Wild Monocular Camera Calibrationcited by 34
  22. 2024A survey of synthetic data augmentation methods in computer visioncited by 34
  23. 2023LU-NeRF: Scene and Pose Estimation by Synchronizing Local Unposed NeRFscited by 33
  24. 2023TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimationcited by 32
  25. 2025Detect Anything 3D in the Wildcited by 32
  26. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  27. 2024Language-Image Models with 3D Understandingcited by 31
  28. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  29. 2024Neural Assets: 3D-Aware Multi-Object Scene Synthesis with Image Diffusion Modelscited by 30
  30. 2022Common Pets in 3D: Dynamic New-View Synthesis of Real-Life Deformable Categoriescited by 29
  31. 2022CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wildcited by 28
  32. 2024ImageNet3D: Towards General-Purpose Object-Level 3D Understandingcited by 25
  33. 2022Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wildcited by 22
  34. 2024OmniNOCS: A unified NOCS dataset and model for 3D lifting of 2D objectscited by 22
  35. 2024Open Vocabulary Monocular 3D Object Detectioncited by 22
  36. 2026Orient Anything V2: Unifying Orientation and Rotation Understandingcited by 22
  37. 2021Monocular 3D Vehicle Detection Using Uncalibrated Traffic Cameras through Homographycited by 21
  38. 2025Unfolding Spatial Cognition: Evaluating Multimodal Models on Visual Simulationscited by 21

50 most cited of 155 All 155 (JSON)