{"url":"/dataset/arkitscenes","name":"ARKitScenes","full_name":null,"description_markdown":"**ARKitScenes** is an RGB-D dataset captured with the widely available Apple LiDAR scanner. Along with the per-frame raw data (Wide Camera RGB, Ultra Wide camera RGB, LiDar scanner depth, IMU) the authors also provide the estimated ARKit camera pose and ARKit scene reconstruction for each iPad Pro sequence. In addition to the raw and processed data from the mobile device, ARKit.","description_withheld":null,"homepage":"https://github.com/apple/ARKitScenes","introduced_date":"2021-11-17","introduced_date_note":null,"introduced_by":{"paper":"/paper/arkitscenes-a-diverse-real-world-dataset-for","title":"ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data","first_author":"Gilad Baruch","url":null},"license":{"name":"Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International Public License","url":"https://creativecommons.org/licenses/by-nc-sa/4.0/"},"modalities":[{"name":"RGB-D","url":"/datasets/modality/rgb-d"}],"tasks":[{"name":"Image Generation","url":"/task/image-generation","datasets_with_task":"/datasets/task/image-generation"},{"name":"3D Object Detection","url":"/task/3d-object-detection","datasets_with_task":"/datasets/task/3d-object-detection"}],"languages":[],"variants":["ARKitScenes"],"data_loaders":[],"num_papers_in_archive":75,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/3d-object-detection-on-arkitscenes","task":"3D Object Detection","dataset_variant":"ARKitScenes","rows":4,"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":"61.3","mAP@0.5":"47.1"},"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/image-generation-on-arkitscenes","task":"Image Generation","dataset_variant":"ARKitScenes","rows":4,"metrics":["FID","FID (SwAV)"],"first_row_in_archive_order":{"model":"GAUDI","paper":"/paper/gaudi-a-neural-architect-for-immersive-3d","metrics":{"FID":"37.35","FID (SwAV)":"4.14"},"code_links":[{"title":"apple/ml-gaudi","url":"https://github.com/apple/ml-gaudi"}]},"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/gaudi-a-neural-architect-for-immersive-3d","title":"GAUDI: A Neural Architect for Immersive 3D Scene Generation","date":"2022-07-27","rows_on_this_dataset":4,"code_links":1,"syntology":null},{"paper":"/paper/h3dnet-3d-object-detection-using-hybrid","title":"H3DNet: 3D Object Detection Using Hybrid Geometric Primitives","date":"2020-06-10","rows_on_this_dataset":1,"code_links":2,"syntology":null},{"paper":"/paper/mlcvnet-multi-level-context-votenet-for-3d","title":"MLCVNet: Multi-Level Context VoteNet for 3D Object Detection","date":"2020-04-12","rows_on_this_dataset":1,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":6,"samples_ran":3,"samples_unverified":3,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/deep-hough-voting-for-3d-object-detection-in","title":"Deep Hough Voting for 3D Object Detection in Point Clouds","date":"2019-04-21","rows_on_this_dataset":1,"code_links":13,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":10,"samples_ran":2,"samples_unverified":8,"pointer_only_for_licence":10,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":2,"samples_harvested":16,"samples_ran":5,"samples_unverified":11,"pointer_only_for_licence":10,"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."}