mlsanityData to 14 Oct 2026

Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items

arXiv 2204.11918 ↗First posted 25 Apr 2022cs.RO cs.GRcited by 612

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Cited by 133 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Interactive 3D simulations have enabled breakthroughs in robotics and computer vision, but simulating the broad diversity of environments needed for deep learning requires large corpora of photo-realistic 3D object models. To address this need, we present Google Scanned Objects, an open-source collection of over one thousand 3D-scanned household items released under a Creative Commons license; these models are preprocessed for use in Ignition Gazebo and the Bullet simulation platforms, but are easily adaptable to other simulators. We describe our object scanning and curation pipeline, then provide statistics about the contents of the dataset and its usage. We hope that the diversity, quality, and flexibility of Google Scanned Objects will lead to advances in interactive simulation, synthetic perception, and robotic learning.

Key facts. Cited by 612 papers in the map (data through 14 Oct 2026). First posted on arXiv 25 Apr 2022.

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Citing papers per year: 2022: 20; 2023: 104; 2024: 198; 2025: 166; 2026: 124.

612 papers.

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  1. 2023Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasetscited by 2,581
  2. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,540
  3. 2025VGGT: Visual Geometry Grounded Transformercited by 1,539
  4. 2023Zero-1-to-3: Zero-shot One Image to 3D Objectcited by 1,489
  5. 2025Qwen-Image Technical Reportcited by 1,044
  6. 2023LRM: Large Reconstruction Model for Single Image to 3Dcited by 849
  7. 2023Objaverse-XL: A Universe of 10M+ 3D Objectscited by 774
  8. 2023Wonder3D: Single Image to 3D using Cross-Domain Diffusioncited by 689
  9. 2023SyncDreamer: Generating Multiview-consistent Images from a Single-view Imagecited by 645
  10. 2023One-2-3-45: Any Single Image to 3D Mesh in 45 Seconds without Per-Shape Optimizationcited by 560
  11. 2024InstantMesh: Efficient 3D Mesh Generation from a Single Image with Sparse-view Large Reconstruction Modelscited by 433
  12. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
38 more
  1. 2022VIMA: General Robot Manipulation with Multimodal Promptscited by 407
  2. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 380
  3. 2023Instant3D: Fast Text-to-3D with Sparse-View Generation and Large Reconstruction Modelcited by 378
  4. 2023Splatter Image: Ultra-Fast Single-View 3D Reconstructioncited by 364
  5. 2024SV3D: Novel Multi-view Synthesis and 3D Generation from a Single Image using Latent Video Diffusioncited by 364
  6. 2024GS-LRM: Large Reconstruction Model for 3D Gaussian Splattingcited by 349
  7. 2023OmniObject3D: Large-Vocabulary 3D Object Dataset for Realistic Perception, Reconstruction and Generationcited by 326
  8. 2024GRM: Large Gaussian Reconstruction Model for Efficient 3D Reconstruction and Generationcited by 301
  9. 2024MoGe: Unlocking Accurate Monocular Geometry Estimation for Open-Domain Images with Optimal Training Supervisioncited by 299
  10. 2023One-2-3-45++: Fast Single Image to 3D Objects with Consistent Multi-View Generation and 3D Diffusioncited by 283
  11. 2023PointOdyssey: A Large-Scale Synthetic Dataset for Long-Term Point Trackingcited by 276
  12. 2023Triplane Meets Gaussian Splatting: Fast and Generalizable Single-View 3D Reconstruction with Transformerscited by 258
  13. 2024TripoSR: Fast 3D Object Reconstruction from a Single Imagecited by 232
  14. 2023MVImgNet: A Large-scale Dataset of Multi-view Imagescited by 220
  15. 2024CRM: Single Image to 3D Textured Mesh with Convolutional Reconstruction Modelcited by 215
  16. 2023DMV3D: Denoising Multi-View Diffusion using 3D Large Reconstruction Modelcited by 214
  17. 2024Direct3D: Scalable Image-to-3D Generation via 3D Latent Diffusion Transformercited by 210
  18. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 201
  19. 2024LVSM: A Large View Synthesis Model with Minimal 3D Inductive Biascited by 189
  20. 2025Stable Virtual Camera: Generative View Synthesis with Diffusion Modelscited by 182
  21. 2023PF-LRM: Pose-Free Large Reconstruction Model for Joint Pose and Shape Predictioncited by 165
  22. 2022NeRDi: Single-View NeRF Synthesis with Language-Guided Diffusion as General Image Priorscited by 156
  23. 2023Infinite Photorealistic Worlds using Procedural Generationcited by 147
  24. 2024MeshLRM: Large Reconstruction Model for High-Quality Meshescited by 139
  25. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 137
  26. 2024Unique3D: High-Quality and Efficient 3D Mesh Generation from a Single Imagecited by 135
  27. 2025Test-Time Training Done Rightcited by 130
  28. 2024CraftsMan3D: High-fidelity Mesh Generation with 3D Native Generation and Interactive Geometry Refinercited by 123
  29. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 117
  30. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 115
  31. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 114
  32. 2022Is Attention All That NeRF Needs?cited by 113
  33. 2024MV-Adapter: Multi-view Consistent Image Generation Made Easycited by 112
  34. 2024GARField: Group Anything with Radiance Fieldscited by 109
  35. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 106
  36. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 101
  37. 20243DTopia-XL: Scaling High-quality 3D Asset Generation via Primitive Diffusioncited by 101
  38. 2024GaussianFlow: Splatting Gaussian Dynamics for 4D Content Creationcited by 100

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