mlsanityData to 7 Oct 2026

ABO: Dataset and Benchmarks for Real-World 3D Object Understanding

arXiv 2110.06199 ↗First posted 12 Oct 2021cs.CV cs.AI cs.GRcited by 360

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Cited by 52 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We introduce Amazon Berkeley Objects (ABO), a new large-scale dataset designed to help bridge the gap between real and virtual 3D worlds. ABO contains product catalog images, metadata, and artist-created 3D models with complex geometries and physically-based materials that correspond to real, household objects. We derive challenging benchmarks that exploit the unique properties of ABO and measure the current limits of the state-of-the-art on three open problems for real-world 3D object understanding: single-view 3D reconstruction, material estimation, and cross-domain multi-view object retrieval.

Key facts. Cited by 360 papers in the map (data through 7 Oct 2026). Builds on 53 of its 83 references that are in the map. First posted on arXiv 12 Oct 2021.

Builds on

53 of 83 references.

References · 53

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  3. 2020A Simple Framework for Contrastive Learning of Visual Representationscited by 11,979
  4. 2017Mask R-CNNcited by 7,259
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38 more
  1. 2015Image-based Recommendations on Styles and Substitutescited by 702
  2. 2021Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstructioncited by 646
  3. 2020Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understandingcited by 593
  4. 20163D-R2N2: A Unified Approach for Single and Multi-view 3D Object Reconstructioncited by 587
  5. 2018AtlasNet: A Papier-Mach'e Approach to Learning 3D Surface Generationcited by 539
  6. 2018Gibson Env: Real-World Perception for Embodied Agentscited by 477
  7. 2016Semantic Scene Completion from a Single Depth Imagecited by 468
  8. 2015Deep Metric Learning via Lifted Structured Feature Embeddingcited by 449
  9. 2019PointRend: Image Segmentation as Renderingcited by 439
  10. 2019Multi-Similarity Loss with General Pair Weighting for Deep Metric Learningcited by 368
  11. 2018ABC: A Big CAD Model Dataset For Geometric Deep Learningcited by 339
  12. 2020A Metric Learning Reality Checkcited by 317
  13. 20203D-FUTURE: 3D Furniture shape with TextUREcited by 306
  14. 2019What Do Single-view 3D Reconstruction Networks Learn?cited by 259
  15. 2017No Fuss Distance Metric Learning using Proxiescited by 225
  16. 2018Pix3D: Dataset and Methods for Single-Image 3D Shape Modelingcited by 218
  17. 2020Proxy Anchor Loss for Deep Metric Learningcited by 195
  18. 2017Learning a Multi-View Stereo Machinecited by 194
  19. 2016Thingi10K: A Dataset of 10,000 3D-Printing Modelscited by 182
  20. 2017Multi-view Supervision for Single-view Reconstruction via Differentiable Ray Consistencycited by 177
  21. 2019Pix2Vox: Context-aware 3D Reconstruction from Single and Multi-view Imagescited by 164
  22. 2020Objectron: A Large Scale Dataset of Object-Centric Videos in the Wild with Pose Annotationscited by 155
  23. 2018Single-Image SVBRDF Capture with a Rendering-Aware Deep Networkcited by 116
  24. 2020ProxyNCA++: Revisiting and Revitalizing Proxy Neighborhood Component Analysiscited by 107
  25. 2016Perspective Transformer Nets: Learning Single-View 3D Object Reconstruction without 3D Supervisioncited by 106
  26. 2020An Analysis of SVD for Deep Rotation Estimationcited by 85
  27. 2020Deep 3D Capture: Geometry and Reflectance from Sparse Multi-View Imagescited by 65
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  34. 2019Flexible SVBRDF Capture with a Multi-Image Deep Networkcited by 50
  35. 2021Shape and Material Capture at Homecited by 36
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50 most cited of 53 All 53 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 20; 2023: 54; 2024: 82; 2025: 89; 2026: 115.

360 papers.

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  1. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,522
  2. 2023LRM: Large Reconstruction Model for Single Image to 3Dcited by 834
  3. 2023Objaverse-XL: A Universe of 10M+ 3D Objectscited by 767
  4. 2024Structured 3D Latents for Scalable and Versatile 3D Generationcited by 742
  5. 2022Kubric: A scalable dataset generatorcited by 373
  6. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 369
  7. 2024GS-LRM: Large Reconstruction Model for 3D Gaussian Splattingcited by 344
  8. 2025Hunyuan3D 2.0: Scaling Diffusion Models for High Resolution Textured 3D Assets Generationcited by 342
  9. 2023OmniObject3D: Large-Vocabulary 3D Object Dataset for Realistic Perception, Reconstruction and Generationcited by 324
  10. 2023Uni3D: Exploring Unified 3D Representation at Scalecited by 231
  11. 2023MVImgNet: A Large-scale Dataset of Multi-view Imagescited by 219
  12. 2023DMV3D: Denoising Multi-View Diffusion using 3D Large Reconstruction Modelcited by 213
38 more
  1. 2022DiffRF: Rendering-Guided 3D Radiance Field Diffusioncited by 204
  2. 2023Scalable 3D Captioning with Pretrained Modelscited by 201
  3. 2023OpenShape: Scaling Up 3D Shape Representation Towards Open-World Understandingcited by 183
  4. 2023Single-Stage Diffusion NeRF: A Unified Approach to 3D Generation and Reconstructioncited by 180
  5. 2023NerfDiff: Single-image View Synthesis with NeRF-guided Distillation from 3D-aware Diffusioncited by 179
  6. 2024LVSM: A Large View Synthesis Model with Minimal 3D Inductive Biascited by 178
  7. 2023PF-LRM: Pose-Free Large Reconstruction Model for Joint Pose and Shape Predictioncited by 165
  8. 2025Native and Compact Structured Latents for 3D Generationcited by 157
  9. 2024MeshLRM: Large Reconstruction Model for High-Quality Meshescited by 138
  10. 2024ShapeLLM: Universal 3D Object Understanding for Embodied Interactioncited by 133
  11. 2024SceneVerse: Scaling 3D Vision-Language Learning for Grounded Scene Understandingcited by 130
  12. 2023State of the Art on Diffusion Models for Visual Computingcited by 126
  13. 2023Paint3D: Paint Anything 3D with Lighting-Less Texture Diffusion Modelscited by 122
  14. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  15. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  16. 2024SceneScript: Reconstructing Scenes With An Autoregressive Structured Language Modelcited by 95
  17. 2025Hi3DGen: High-fidelity 3D Geometry Generation from Images via Normal Bridgingcited by 95
  18. 2024Dora: Sampling and Benchmarking for 3D Shape Variational Auto-Encoderscited by 93
  19. 20223DILG: Irregular Latent Grids for 3D Generative Modelingcited by 92
  20. 2025Step1X-3D: Towards High-Fidelity and Controllable Generation of Textured 3D Assetscited by 85
  21. 2025PartCrafter: Structured 3D Mesh Generation via Compositional Latent Diffusion Transformerscited by 78
  22. 2025SparseFlex: High-Resolution and Arbitrary-Topology 3D Shape Modelingcited by 76
  23. 2022ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfercited by 73
  24. 2025KRIS-Bench: Benchmarking Next-Level Intelligent Image Editing Modelscited by 69
  25. 2024Advances in 3D Generation: A Surveycited by 62
  26. 2025DeepMesh: Auto-Regressive Artist-mesh Creation with Reinforcement Learningcited by 62
  27. 2022Housekeep: Tidying Virtual Households using Commonsense Reasoningcited by 57
  28. 2025HoloPart: Generative 3D Part Amodal Segmentationcited by 57
  29. 2023NAVI: Category-Agnostic Image Collections with High-Quality 3D Shape and Pose Annotationscited by 53
  30. 2025Amodal3R: Amodal 3D Reconstruction from Occluded 2D Imagescited by 52
  31. 2023Stanford-ORB: A Real-World 3D Object Inverse Rendering Benchmarkcited by 51
  32. 2023AutoDecoding Latent 3D Diffusion Modelscited by 50
  33. 2025SceneGen: Single-Image 3D Scene Generation in One Feedforward Passcited by 49
  34. 2022Retrospectives on the Embodied AI Workshopcited by 46
  35. 2023NEWTON: Are Large Language Models Capable of Physical Reasoning?cited by 45
  36. 2024Physical Property Understanding from Language-Embedded Feature Fieldscited by 45
  37. 2025Dens3R: A Foundation Model for 3D Geometry Predictioncited by 44
  38. 2024L3DG: Latent 3D Gaussian Diffusioncited by 42

50 most cited of 360 All 360 (JSON)