# LASA: Instance Reconstruction from Real Scans using A Large-scale Aligned Shape Annotation Dataset

arXiv: https://arxiv.org/abs/2312.12418 · HTML: https://mlsanity.com/paper/2312.12418/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 61 of its 64 references that are in the map.
- First posted on arXiv 19 Dec 2023.

## Builds on (most cited first, 30 of 61)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Elucidating the Design Space of Diffusion-Based Generative Models](https://mlsanity.com/paper/2206.00364/) (2022)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [Occupancy Networks: Learning 3D Reconstruction in Function Space](https://mlsanity.com/paper/1812.03828/) (2018)
- [Learning Implicit Fields for Generative Shape Modeling](https://mlsanity.com/paper/1812.02822/) (2018)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [PIFu: Pixel-Aligned Implicit Function for High-Resolution Clothed Human Digitization](https://mlsanity.com/paper/1905.05172/) (2019)
- [Convolutional Occupancy Networks](https://mlsanity.com/paper/2003.04618/) (2020)
- [Pixel2Mesh: Generating 3D Mesh Models from Single RGB Images](https://mlsanity.com/paper/1804.01654/) (2018)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI](https://mlsanity.com/paper/2109.08238/) (2021)
- [3D-R2N2: A Unified Approach for Single and Multi-view 3D Object Reconstruction](https://mlsanity.com/paper/1604.00449/) (2016)
- [AtlasNet: A Papier-Mach'e Approach to Learning 3D Surface Generation](https://mlsanity.com/paper/1802.05384/) (2018)
- [3DShape2VecSet: A 3D Shape Representation for Neural Fields and Generative Diffusion Models](https://mlsanity.com/paper/2301.11445/) (2023)
- [ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data](https://mlsanity.com/paper/2111.08897/) (2021)
- [3D-FRONT: 3D Furnished Rooms with layOuts and semaNTics](https://mlsanity.com/paper/2011.09127/) (2020)
- [ABO: Dataset and Benchmarks for Real-World 3D Object Understanding](https://mlsanity.com/paper/2110.06199/) (2021)
- [Implicit Functions in Feature Space for 3D Shape Reconstruction and Completion](https://mlsanity.com/paper/2003.01456/) (2020)
- [DISN: Deep Implicit Surface Network for High-quality Single-view 3D Reconstruction](https://mlsanity.com/paper/1905.10711/) (2019)
- [3D-FUTURE: 3D Furniture shape with TextURE](https://mlsanity.com/paper/2009.09633/) (2020)
- [Rodin: A Generative Model for Sculpting 3D Digital Avatars Using Diffusion](https://mlsanity.com/paper/2212.06135/) (2022)
- [SDFusion: Multimodal 3D Shape Completion, Reconstruction, and Generation](https://mlsanity.com/paper/2212.04493/) (2022)
- [Structured3D: A Large Photo-realistic Dataset for Structured 3D Modeling](https://mlsanity.com/paper/1908.00222/) (2019)
- [3D Neural Field Generation using Triplane Diffusion](https://mlsanity.com/paper/2211.16677/) (2022)
- [Shape Completion using 3D-Encoder-Predictor CNNs and Shape Synthesis](https://mlsanity.com/paper/1612.00101/) (2016)
- [Pix3D: Dataset and Methods for Single-Image 3D Shape Modeling](https://mlsanity.com/paper/1804.04610/) (2018)
- [3DGen: Triplane Latent Diffusion for Textured Mesh Generation](https://mlsanity.com/paper/2303.05371/) (2023)
- [Learning a Predictable and Generative Vector Representation for Objects](https://mlsanity.com/paper/1603.08637/) (2016)

## Built on by (most cited first, 5 of 5)

- [GarVerseLOD: High-Fidelity 3D Garment Reconstruction from a Single In-the-Wild Image using a Dataset with Levels of Details](https://mlsanity.com/paper/2411.03047/) (2024)
- [Diorama: Unleashing Zero-shot Single-view 3D Indoor Scene Modeling](https://mlsanity.com/paper/2411.19492/) (2024)
- [InstaScene: Towards Complete 3D Instance Decomposition and Reconstruction from Cluttered Scenes](https://mlsanity.com/paper/2507.08416/) (2025)
- [Leveraging Automatic CAD Annotations for Supervised Learning in 3D Scene Understanding](https://mlsanity.com/paper/2504.13580/) (2025)
- [Stable-Sim2Real: Exploring Simulation of Real-Captured 3D Data with Two-Stage Depth Diffusion](https://mlsanity.com/paper/2507.23483/) (2025)

## Abstract (arXiv)

Instance shape reconstruction from a 3D scene involves recovering the full geometries of multiple objects at the semantic instance level. Many methods leverage data-driven learning due to the intricacies of scene complexity and significant indoor occlusions. Training these methods often requires a large-scale, high-quality dataset with aligned and paired shape annotations with real-world scans. Existing datasets are either synthetic or misaligned, restricting the performance of data-driven methods on real data. To this end, we introduce LASA, a Large-scale Aligned Shape Annotation Dataset comprising 10,412 high-quality CAD annotations aligned with 920 real-world scene scans from ArkitScenes, created manually by professional artists. On this top, we propose a novel Diffusion-based Cross-Modal Shape Reconstruction (DisCo) method. It is empowered by a hybrid feature aggregation design to fuse multi-modal inputs and recover high-fidelity object geometries. Besides, we present an Occupancy-Guided 3D Object Detection (OccGOD) method and demonstrate that our shape annotations provide scene occupancy clues that can further improve 3D object detection. Supported by LASA, extensive experiments show that our methods achieve state-of-the-art performance in both instance-level scene reconstruction and 3D object detection tasks.