{"url":"/dataset/freiburg-spatial-relations","name":"Freiburg Spatial Relations","full_name":"Freiburg Spatial Relations","description_markdown":"The **Freiburg Spatial Relations** dataset features 546 scenes each containing two out of 25 household objects. The depicted spatial relations can roughly be described as on top, on top on the corner, inside, inside and inclined, next to, and inclined. The dataset contains the 25 object models as textured .obj and .dae files, a low resolution .dae version for visualization in rviz, a scene description file containing the translation and rotation of the objects for each scene, a file with labels for each scene, the 15 splits used for cross validation, and a bash script to convert the models to pointclouds.\n\nSource: [http://spatialrelations.cs.uni-freiburg.de/](http://spatialrelations.cs.uni-freiburg.de/)\nImage Source: [http://spatialrelations.cs.uni-freiburg.de/](http://spatialrelations.cs.uni-freiburg.de/)","description_withheld":null,"homepage":"http://spatialrelations.cs.uni-freiburg.de/","introduced_date":"2017-01-01","introduced_date_note":null,"introduced_by":{"paper":"/paper/metric-learning-for-generalizing-spatial","title":"Metric Learning for Generalizing Spatial Relations to New Objects","first_author":"Oier Mees","url":null},"license":null,"modalities":[{"name":"Point cloud","url":"/datasets/modality/point-cloud"}],"tasks":[{"name":"Metric Learning","url":"/task/metric-learning","datasets_with_task":"/datasets/task/metric-learning"}],"languages":[],"variants":["Freiburg Spatial Relations"],"data_loaders":[],"num_papers_in_archive":2,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[],"papers_with_a_benchmark_row":[],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":0,"samples_harvested":0,"samples_ran":0,"samples_unverified":0,"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."}