{"url":"/dataset/3r-scan","name":"3RScan","full_name":null,"description_markdown":"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. \r\n\r\nSource: [RIO: 3D Object Instance Re-Localization in Changing Indoor Environments](/paper/rio-3d-object-instance-re-localization-in)","description_withheld":null,"homepage":"https://waldjohannau.github.io/RIO/","introduced_date":null,"introduced_date_note":null,"introduced_by":{"paper":"/paper/rio-3d-object-instance-re-localization-in","title":"RIO: 3D Object Instance Re-Localization in Changing Indoor Environments","first_author":"Johanna Wald","url":null},"license":null,"modalities":[],"tasks":[{"name":"Semantic Segmentation","url":"/task/semantic-segmentation","datasets_with_task":"/datasets/task/semantic-segmentation"},{"name":"3D Object Detection","url":"/task/3d-object-detection","datasets_with_task":"/datasets/task/3d-object-detection"},{"name":"Scene Understanding","url":"/task/scene-understanding","datasets_with_task":"/datasets/task/scene-understanding"},{"name":"Point Cloud Registration","url":"/task/point-cloud-registration","datasets_with_task":"/datasets/task/point-cloud-registration"},{"name":"3D Semantic Segmentation","url":"/task/3d-semantic-segmentation","datasets_with_task":"/datasets/task/3d-semantic-segmentation"},{"name":"Scene Graph Generation","url":"/task/scene-graph-generation","datasets_with_task":"/datasets/task/scene-graph-generation"},{"name":"3D Object Classification","url":"/task/3d-object-classification","datasets_with_task":"/datasets/task/3d-object-classification"},{"name":"Scene Change Detection","url":"/task/scene-change-detection","datasets_with_task":"/datasets/task/scene-change-detection"},{"name":"Predicate Classification","url":"/task/predicate-classification","datasets_with_task":"/datasets/task/predicate-classification"}],"languages":[],"variants":["3RScan","3R-Scan"],"data_loaders":[],"num_papers_in_archive":44,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/3d-object-detection-on-3rscan","task":"3D Object Detection","dataset_variant":"3RScan","rows":3,"metrics":["mAP@0.25","mAP@0.5"],"first_row_in_archive_order":{"model":"UniDet3D","paper":"/paper/unidet3d-multi-dataset-indoor-3d-object","metrics":{"mAP@0.25":"64.7","mAP@0.5":"48.6"},"code_links":[{"title":"filapro/unidet3d","url":"https://github.com/filapro/unidet3d"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/3d-object-classification-on-3r-scan-1","task":"3D Object Classification","dataset_variant":"3R-Scan","rows":2,"metrics":["Top-10 Accuracy","Top-5 Accuracy"],"first_row_in_archive_order":{"model":"SceneGraphFusion","paper":"/paper/scenegraphfusion-incremental-3d-scene-graph","metrics":{"Top-10 Accuracy":"0.8","Top-5 Accuracy":"0.7"},"code_links":[{"title":"ShunChengWu/SceneGraphFusion","url":"https://github.com/ShunChengWu/SceneGraphFusion"},{"title":"ShunChengWu/3DSSG","url":"https://github.com/ShunChengWu/3DSSG"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/point-cloud-registration-on-3rscan","task":"Point Cloud Registration","dataset_variant":"3RScan","rows":2,"metrics":["CD","RRE","RTE"],"first_row_in_archive_order":{"model":"SG-PGM","paper":"/paper/sg-pgm-partial-graph-matching-network-with","metrics":{"CD":"0.0083","RRE":"0.510","RTE":"1.27"},"code_links":[{"title":"dfki-av/sg-pgm","url":"https://github.com/dfki-av/sg-pgm"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/scene-graph-generation-on-3r-scan-1","task":"Scene Graph Generation","dataset_variant":"3R-Scan","rows":2,"metrics":["Top-5 Accuracy"],"first_row_in_archive_order":{"model":"SceneGraphFusion","paper":"/paper/scenegraphfusion-incremental-3d-scene-graph","metrics":{"Top-5 Accuracy":"0.87"},"code_links":[{"title":"ShunChengWu/SceneGraphFusion","url":"https://github.com/ShunChengWu/SceneGraphFusion"},{"title":"ShunChengWu/3DSSG","url":"https://github.com/ShunChengWu/3DSSG"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/unidet3d-multi-dataset-indoor-3d-object","title":"UniDet3D: Multi-dataset Indoor 3D Object Detection","date":"2024-09-06","rows_on_this_dataset":1,"code_links":1,"syntology":null},{"paper":"/paper/sg-pgm-partial-graph-matching-network-with","title":"SG-PGM: Partial Graph Matching Network with Semantic Geometric Fusion for 3D Scene Graph Alignment and Its Downstream Tasks","date":"2024-03-28","rows_on_this_dataset":1,"code_links":1,"syntology":null},{"paper":"/paper/sgaligner-3d-scene-alignment-with-scene","title":"SGAligner : 3D Scene Alignment with Scene Graphs","date":"2023-04-28","rows_on_this_dataset":1,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":10,"samples_ran":7,"samples_unverified":3,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/tr3d-towards-real-time-indoor-3d-object","title":"TR3D: Towards Real-Time Indoor 3D Object Detection","date":"2023-02-06","rows_on_this_dataset":1,"code_links":0,"syntology":null},{"paper":"/paper/fcaf3d-fully-convolutional-anchor-free-3d","title":"FCAF3D: Fully Convolutional Anchor-Free 3D Object Detection","date":"2021-12-01","rows_on_this_dataset":1,"code_links":2,"syntology":null},{"paper":"/paper/scenegraphfusion-incremental-3d-scene-graph","title":"SceneGraphFusion: Incremental 3D Scene Graph Prediction from RGB-D Sequences","date":"2021-03-27","rows_on_this_dataset":4,"code_links":2,"syntology":null}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":1,"samples_harvested":10,"samples_ran":7,"samples_unverified":3,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}