mlsanityData to 7 Oct 2026

ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes

arXiv 2308.11417 ↗First posted 22 Aug 2023cs.CVcited by 747

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Cited by 75 in Multimodal LLMs / vision-language models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We present ScanNet++, a large-scale dataset that couples together capture of high-quality and commodity-level geometry and color of indoor scenes. Each scene is captured with a high-end laser scanner at sub-millimeter resolution, along with registered 33-megapixel images from a DSLR camera, and RGB-D streams from an iPhone. Scene reconstructions are further annotated with an open vocabulary of semantics, with label-ambiguous scenarios explicitly annotated for comprehensive semantic understanding. ScanNet++ enables a new real-world benchmark for novel view synthesis, both from high-quality RGB capture, and importantly also from commodity-level images, in addition to a new benchmark for 3D semantic scene understanding that comprehensively encapsulates diverse and ambiguous semantic labeling scenarios. Currently, ScanNet++ contains 460 scenes, 280,000 captured DSLR images, and over 3.7M iPhone RGBD frames.

Key facts. Cited by 747 papers in the map (data through 7 Oct 2026). Builds on 41 of its 54 references that are in the map. First posted on arXiv 22 Aug 2023.

Builds on

41 of 54 references.

References · 41

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  3. 2016Image-to-Image Translation with Conditional Adversarial Networkscited by 4,510
  4. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  5. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  6. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  7. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,013
  8. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,957
  9. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,607
  10. 2020pixelNeRF: Neural Radiance Fields from One or Few Imagescited by 1,574
  11. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,354
  12. 2018BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learningcited by 1,282
29 more
  1. 2022TensoRF: Tensorial Radiance Fieldscited by 1,275
  2. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,230
  3. 2019KPConv: Flexible and Deformable Convolution for Point Cloudscited by 1,202
  4. 20194D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networkscited by 1,201
  5. 2021Direct Voxel Grid Optimization: Super-fast Convergence for Radiance Fields Reconstructioncited by 961
  6. 2020Neural Sparse Voxel Fieldscited by 959
  7. 2021PlenOctrees for Real-time Rendering of Neural Radiance Fieldscited by 904
  8. 2021MVSNeRF: Fast Generalizable Radiance Field Reconstruction from Multi-View Stereocited by 735
  9. 2021IBRNet: Learning Multi-View Image-Based Renderingcited by 698
  10. 2019Local Light Field Fusion: Practical View Synthesis with Prescriptive Sampling Guidelinescited by 672
  11. 2023Nerfstudio: A Modular Framework for Neural Radiance Field Developmentcited by 596
  12. 2022Point-NeRF: Point-based Neural Radiance Fieldscited by 503
  13. 2019BlendedMVS: A Large-scale Dataset for Generalized Multi-view Stereo Networkscited by 487
  14. 2021ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Datacited by 442
  15. 2021In-Place Scene Labelling and Understanding with Implicit Scene Representationcited by 411
  16. 2020PointGroup: Dual-Set Point Grouping for 3D Instance Segmentationcited by 318
  17. 2022Language-Grounded Indoor 3D Semantic Segmentation in the Wildcited by 243
  18. 2022Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representationcited by 243
  19. 2022DiffRF: Rendering-Guided 3D Radiance Field Diffusioncited by 204
  20. 2022SoftGroup for 3D Instance Segmentation on Point Cloudscited by 197
  21. 2021GeoNeRF: Generalizing NeRF with Geometry Priorscited by 195
  22. 2021Neural Rays for Occlusion-aware Image-based Renderingcited by 192
  23. 2022Panoptic Lifting for 3D Scene Understanding with Neural Fieldscited by 171
  24. 2022Panoptic NeRF: 3D-to-2D Label Transfer for Panoptic Urban Scene Segmentationcited by 152
  25. 2021Hierarchical Aggregation for 3D Instance Segmentationcited by 126
  26. 2022Generalizable Patch-Based Neural Renderingcited by 121
  27. 2021NeSF: Neural Semantic Fields for Generalizable Semantic Segmentation of 3D Scenescited by 119
  28. 2022NeRFusion: Fusing Radiance Fields for Large-Scale Scene Reconstructioncited by 99
  29. 2013Regularized Discrete Optimal Transportcited by 54

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 17; 2024: 112; 2025: 275; 2026: 343.

747 papers.

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  1. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,526
  2. 2024Grounding Image Matching in 3D with MASt3Rcited by 960
  3. 2025Depth Anything 3: Recovering the Visual Space from Any Viewscited by 626
  4. 2024Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spacescited by 580
  5. 2023DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Visioncited by 514
  6. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  7. 2025Fast3R: Towards 3D Reconstruction of 1000+ Images in One Forward Passcited by 356
  8. 2025MapAnything: Universal Feed-Forward Metric 3D Reconstructioncited by 295
  9. 2025π3: Permutation-Equivariant Visual Geometry Learningcited by 292
  10. 20243D Reconstruction with Spatial Memorycited by 269
  11. 2025MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Detailscited by 250
  12. 2024No Pose, No Problem: Surprisingly Simple 3D Gaussian Splats from Sparse Unposed Imagescited by 241
38 more
  1. 2025AnySplat: Feed-forward 3D Gaussian Splatting from Unconstrained Viewscited by 234
  2. 2025Spatial-MLLM: Boosting MLLM Capabilities in Visual-based Spatial Intelligencecited by 206
  3. 2025FLARE: Feed-forward Geometry, Appearance and Camera Estimation from Uncalibrated Sparse Viewscited by 176
  4. 2024Splatt3R: Zero-shot Gaussian Splatting from Uncalibrated Image Pairscited by 171
  5. 2025UniDepthV2: Universal Monocular Metric Depth Estimation Made Simplercited by 170
  6. 2025VLM-3R: Vision-Language Models Augmented with Instruction-Aligned 3D Reconstructioncited by 154
  7. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
  8. 2025MUSt3R: Multi-view Network for Stereo 3D Reconstructioncited by 139
  9. 2023CG-HOI: Contact-Guided 3D Human-Object Interaction Generationcited by 137
  10. 2024Scaling Up Dynamic Human-Scene Interaction Modelingcited by 137
  11. 2024DN-Splatter: Depth and Normal Priors for Gaussian Splatting and Meshingcited by 136
  12. 2024MV-DUSt3R+: Single-Stage Scene Reconstruction from Sparse Views In 2 Secondscited by 136
  13. 2024Video-3D LLM: Learning Position-Aware Video Representation for 3D Scene Understandingcited by 131
  14. 2024SceneVerse: Scaling 3D Vision-Language Learning for Grounded Scene Understandingcited by 130
  15. 2025From Flatland to Space: Teaching Vision-Language Models to Perceive and Reason in 3Dcited by 127
  16. 2023State of the Art on Diffusion Models for Visual Computingcited by 126
  17. 2023Open3DIS: Open-Vocabulary 3D Instance Segmentation with 2D Mask Guidancecited by 123
  18. 2025Learning from Videos for 3D World: Enhancing MLLMs with 3D Vision Geometry Priorscited by 111
  19. 2025Sonata: Self-Supervised Learning of Reliable Point Representationscited by 108
  20. 2024MeshXL: Neural Coordinate Field for Generative 3D Foundation Modelscited by 100
  21. 2024Learning Temporally Consistent Video Depth from Video Diffusion Priorscited by 100
  22. 2024SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videoscited by 100
  23. 2023SAI3D: Segment Any Instance in 3D Scenescited by 90
  24. 20243DGUT: Enabling Distorted Cameras and Secondary Rays in Gaussian Splattingcited by 87
  25. 2024SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAMcited by 86
  26. 2025Visual Spatial Tuningcited by 85
  27. 2025SpatialLadder: Progressive Training for Spatial Reasoning in Vision-Language Modelscited by 83
  28. 2025Point3R: Streaming 3D Reconstruction with Explicit Spatial Pointer Memorycited by 82
  29. 2023AnyHome: Open-Vocabulary Generation of Structured and Textured 3D Homescited by 81
  30. 2024Reloc3r: Large-Scale Training of Relative Camera Pose Regression for Generalizable, Fast, and Accurate Visual Localizationcited by 81
  31. 2025STream3R: Scalable Sequential 3D Reconstruction with Causal Transformercited by 76
  32. 2025Scaling Spatial Intelligence with Multimodal Foundation Modelscited by 75
  33. 2023Intrinsic Image Diffusion for Indoor Single-view Material Estimationcited by 73
  34. 2024Large Spatial Model: End-to-end Unposed Images to Semantic 3Dcited by 73
  35. 2024Prompting Depth Anything for 4K Resolution Accurate Metric Depth Estimationcited by 73
  36. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  37. 2025MM-Spatial: Exploring 3D Spatial Understanding in Multimodal LLMscited by 72
  38. 2024Improving 2D Feature Representations by 3D-Aware Fine-Tuningcited by 70

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