Datasets › 3RScan
3RScan
A novel dataset and benchmark, which features 1482 RGB-D scans of 478 environments across multiple time steps. Each scene includes several objects whose positions change over time, together with ground truth annotations of object instances and their respective 6DoF mappings among re-scans.
Source: RIO: 3D Object Instance Re-Localization in Changing Indoor Environments
Benchmarks archive 2025-07-28
All 4 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.
| First row (archive order) | Paper | Code | ||||
|---|---|---|---|---|---|---|
| 3D Object Detection | 3RScan | UniDet3D mAP@0.25 64.7 | UniDet3D: Multi-dataset Indoor 3D Object Detection | filapro/unidet3d | 3 | Compare |
| 3D Object Classification | 3R-Scan | SceneGraphFusion Top-10 Accuracy 0.8 | SceneGraphFusion: Incremental 3D Scene Graph Prediction... | ShunChengWu/SceneGraphFusion +1 | 2 | Compare |
| Point Cloud Registration | 3RScan | SG-PGM CD 0.0083 | SG-PGM: Partial Graph Matching Network with Semantic... | dfki-av/sg-pgm | 2 | Compare |
| Scene Graph Generation | 3R-Scan | SceneGraphFusion Top-5 Accuracy 0.87 | SceneGraphFusion: Incremental 3D Scene Graph Prediction... | ShunChengWu/SceneGraphFusion +1 | 2 | Compare |
Papers archive 2025-07-28
6 shown of 6 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 44. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.
| Date | Samples run Syntology | |||
|---|---|---|---|---|
| UniDet3D: Multi-dataset Indoor 3D Object Detection | 1 | 1 | 6 Sep 2024 | not harvested |
| SG-PGM: Partial Graph Matching Network with Semantic Geometric Fusion for 3D Scene Graph Alignment and Its Downstream Tasks | 1 | 1 | 28 Mar 2024 | not harvested |
| SGAligner : 3D Scene Alignment with Scene Graphs | 1 | 1 | 28 Apr 2023 | ran 7 of 10 samples (3 unverified) |
| TR3D: Towards Real-Time Indoor 3D Object Detection | 0 | 1 | 6 Feb 2023 | not harvested |
| FCAF3D: Fully Convolutional Anchor-Free 3D Object Detection | 2 | 1 | 1 Dec 2021 | not harvested |
| SceneGraphFusion: Incremental 3D Scene Graph Prediction from RGB-D Sequences | 2 | 4 | 27 Mar 2021 | not harvested |
Dataset loaders archive 2025-07-28
No loader listed in the archive.
Tasks archive 2025-07-28
License archive 2025-07-28
No licence recorded in the archive. Absence here is not a statement about the dataset's terms.
Modalities archive 2025-07-28
No modality tagged.
Languages archive 2025-07-28
No language tagged.
Variants archive 2025-07-28
- 3RScan
- 3R-Scan
2 variant names, as the archive lists them.
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