# A Benchmark Grocery Dataset of Realworld Point Clouds From Single View

arXiv: https://arxiv.org/abs/2402.07819 · HTML: https://mlsanity.com/paper/2402.07819/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 46 of its 84 references that are in the map.
- First posted on arXiv 12 Feb 2024.

## Builds on (most cited first, 30 of 46)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Densely Connected Convolutional Networks](https://mlsanity.com/paper/1608.06993/) (2016)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks](https://mlsanity.com/paper/1703.03400/) (2017)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Prototypical Networks for Few-shot Learning](https://mlsanity.com/paper/1703.05175/) (2017)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Objaverse: A Universe of Annotated 3D Objects](https://mlsanity.com/paper/2212.08051/) (2022)
- [PCT: Point cloud transformer](https://mlsanity.com/paper/2012.09688/) (2020)
- [Open3D: A Modern Library for 3D Data Processing](https://mlsanity.com/paper/1801.09847/) (2018)
- [Revisiting Point Cloud Classification: A New Benchmark Dataset and Classification Model on Real-World Data](https://mlsanity.com/paper/1908.04616/) (2019)
- [PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies](https://mlsanity.com/paper/2206.04670/) (2022)
- [Rethinking Network Design and Local Geometry in Point Cloud: A Simple Residual MLP Framework](https://mlsanity.com/paper/2202.07123/) (2022)
- [Meta-Dataset: A Dataset of Datasets for Learning to Learn from Few Examples](https://mlsanity.com/paper/1903.03096/) (2019)
- [Caffe: Convolutional Architecture for Fast Feature Embedding](https://mlsanity.com/paper/1408.5093/) (2014)
- [CrossPoint: Self-Supervised Cross-Modal Contrastive Learning for 3D Point Cloud Understanding](https://mlsanity.com/paper/2203.00680/) (2022)
- [Meta-Baseline: Exploring Simple Meta-Learning for Few-Shot Learning](https://mlsanity.com/paper/2003.04390/) (2020)
- [Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wild](https://mlsanity.com/paper/2207.10660/) (2022)
- [Conditional Channel Gated Networks for Task-Aware Continual Learning](https://mlsanity.com/paper/2004.00070/) (2020)
- [Lidar for Autonomous Driving: The principles, challenges, and trends for automotive lidar and perception systems](https://mlsanity.com/paper/2004.08467/) (2020)
- [PointCleanNet: Learning to Denoise and Remove Outliers from Dense Point Clouds](https://mlsanity.com/paper/1901.01060/) (2019)
- [6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark](https://mlsanity.com/paper/2203.05701/) (2022)
- [3D Deep Learning on Medical Images: A Review](https://mlsanity.com/paper/2004.00218/) (2020)
- [Self-Supervised Few-Shot Learning on Point Clouds](https://mlsanity.com/paper/2009.14168/) (2020)
- [Precise Detection in Densely Packed Scenes](https://mlsanity.com/paper/1904.00853/) (2019)

## Built on by (most cited first, 2 of 2)

- [Token Adaptation via Side Graph Convolution for Efficient Fine-tuning of 3D Point Cloud Transformers](https://mlsanity.com/paper/2502.14142/) (2025)
- [EDADepth: Enhanced Data Augmentation for Monocular Depth Estimation](https://mlsanity.com/paper/2409.06183/) (2024)

## Abstract (arXiv)

Fine-grained grocery object recognition is an important computer vision problem with broad applications in automatic checkout, in-store robotic navigation, and assistive technologies for the visually impaired. Existing datasets on groceries are mainly 2D images. Models trained on these datasets are limited to learning features from the regular 2D grids. While portable 3D sensors such as Kinect were commonly available for mobile phones, sensors such as LiDAR and TrueDepth, have recently been integrated into mobile phones. Despite the availability of mobile 3D sensors, there are currently no dedicated real-world large-scale benchmark 3D datasets for grocery. In addition, existing 3D datasets lack fine-grained grocery categories and have limited training samples. Furthermore, collecting data by going around the object versus the traditional photo capture makes data collection cumbersome. Thus, we introduce a large-scale grocery dataset called 3DGrocery100. It constitutes 100 classes, with a total of 87,898 3D point clouds created from 10,755 RGB-D single-view images. We benchmark our dataset on six recent state-of-the-art 3D point cloud classification models. Additionally, we also benchmark the dataset on few-shot and continual learning point cloud classification tasks. Project Page: https://bigdatavision.org/3DGrocery100/.