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Datasets › SUN RGB-D

SUN RGB-D

Introduced by Shuran Song et al. in SUN RGB-D: A RGB-D Scene Understanding Benchmark Suite1 Jan 2015 archive 2025-07-28

The SUN RGBD dataset contains 10335 real RGB-D images of room scenes. Each RGB image has a corresponding depth and segmentation map. As many as 700 object categories are labeled. The training and testing sets contain 5285 and 5050 images, respectively.

Source: Mix and match networks: multi-domain alignment for unpaired image-to-image translation Image Source: https://rgbd.cs.princeton.edu/

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 11 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)PaperCode
Semantic Segmentation SUN-RGBD GeminiFusion (Swin-Large) Mean IoU 54.6 GeminiFusion: Efficient Pixel-wise Multimodal Fusion for... jiadingcn/geminifusion 44 Compare
3D Object Detection SUN-RGBD val Point-GCC+TR3D+FF mAP@0.25 69.7 Point-GCC: Universal Self-supervised 3D Scene... asterisci/point-gcc 32 Compare
3D Object Detection SUN-RGBD Uni3DETR mAP@0.25 67.0 Uni3DETR: Unified 3D Detection Transformer zhenyuw16/uni3detr 8 Compare
Monocular 3D Object Detection SUN RGB-D IM3D AP@0.15 (NYU-37) 24.10 Holistic 3D Scene Understanding from a Single Image with... chengzhag/Implicit3DUnderstanding 7 Compare
Object Detection In Indoor Scenes SUN RGB-D YONOD + CPPM (RGB + Depth) AP 0.5 58.1 Unified Object Detector for Different Modalities based... liketheflower/uoddm 7 Compare
Room Layout Estimation SUN RGB-D IM3D IoU 64.4 Holistic 3D Scene Understanding from a Single Image with... chengzhag/Implicit3DUnderstanding 7 Compare
Scene Segmentation SUN-RGBD ICM Mean IoU 50.60 Scene Parsing via Integrated Classification Model and... shihengcan/ICM-matcaffe 5 Compare
Monocular Depth Estimation SUN-RGBD RPSF Delta < 1.25 0.937 End-to-end Learning for Joint Depth and Image... — 3 Compare
Scene Recognition SUN-RGBD OMNIVORE (Swin-B) Accuracy (%) 67.2 Omnivore: A Single Model for Many Visual Modalities towhee-io/towhee +1 2 Compare
Object Detection SUN-RGBD val CDSSD MAP 7 How To Extract Fashion Trends From Social Media? A... trhgu/awesome-fashion-contents 1 Compare
Panoptic Segmentation SUN-RGBD EMSANet PQ 52.84 Efficient Multi-Task RGB-D Scene Analysis for Indoor Environments tui-nicr/emsanet +1 1 Compare

Papers archive 2025-07-28

30 shown of 84 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 477. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
HDBFormer: Efficient RGB-D Semantic Segmentation with A Heterogeneous Dual-Branch Framework 1 1 18 Apr 2025 not harvested
DFormerv2: Geometry Self-Attention for RGBD Semantic Segmentation 1 3 7 Apr 2025 ran 0 of 3 samples (3 unverified)
State Space Model Meets Transformer: A New Paradigm for 3D Object Detection 1 2 18 Mar 2025 ran 2 of 10 samples (8 unverified)
Diffusion-based RGB-D Semantic Segmentation with Deformable Attention Transformer 0 1 23 Sep 2024 not harvested
ScaleDepth: Decomposing Metric Depth Estimation into Scale Prediction and Relative Depth Estimation 1 1 11 Jul 2024 not harvested
GeminiFusion: Efficient Pixel-wise Multimodal Fusion for Vision Transformer 1 3 3 Jun 2024 ran 7 of 10 samples (3 unverified)
SPGroup3D: Superpoint Grouping Network for Indoor 3D Object Detection 1 1 21 Dec 2023 not harvested
Efficient Multimodal Semantic Segmentation via Dual-Prompt Learning 1 1 1 Dec 2023 not harvested
Uni3DETR: Unified 3D Detection Transformer 1 1 9 Oct 2023 ran 1 of 1 samples (0 unverified)
AsymFormer: Asymmetrical Cross-Modal Representation Learning for Mobile Platform Real-Time RGB-D Semantic Segmentation 1 1 25 Sep 2023 not harvested
PanopticNDT: Efficient and Robust Panoptic Mapping 4 1 24 Sep 2023 ran 0 of 12 samples (12 unverified)
DFormer: Rethinking RGBD Representation Learning for Semantic Segmentation 1 4 18 Sep 2023 not harvested
V-DETR: DETR with Vertex Relative Position Encoding for 3D Object Detection 1 1 8 Aug 2023 ran 10 of 12 samples (2 unverified)
Efficient Multi-Task Scene Analysis with RGB-D Transformers 2 1 8 Jun 2023 not harvested
Point-GCC: Universal Self-supervised 3D Scene Pre-training via Geometry-Color Contrast 1 2 31 May 2023 not harvested
OctFormer: Octree-based Transformers for 3D Point Clouds 4 1 4 May 2023 ran 2 of 9 samples (7 unverified)
Missing Modality Robustness in Semi-Supervised Multi-Modal Semantic Segmentation 1 1 21 Apr 2023 not harvested
DDP: Diffusion Model for Dense Visual Prediction 1 1 30 Mar 2023 not harvested
Pixel Difference Convolutional Network for RGB-D Semantic Segmentation 0 1 23 Feb 2023 not harvested
TR3D: Towards Real-Time Indoor 3D Object Detection 0 2 6 Feb 2023 not harvested
LCPFormer: Towards Effective 3D Point Cloud Analysis via Local Context Propagation in Transformers 1 1 23 Oct 2022 not harvested
DCANet: Differential Convolution Attention Network for RGB-D Semantic Segmentation 0 1 13 Oct 2022 not harvested
CAGroup3D: Class-Aware Grouping for 3D Object Detection on Point Clouds 1 2 9 Oct 2022 not harvested
Boosting 3D Object Detection via Object-Focused Image Fusion 1 1 21 Jul 2022 not harvested
Efficient Multi-Task RGB-D Scene Analysis for Indoor Environments 2 2 10 Jul 2022 not harvested
Unified Object Detector for Different Modalities based on Vision Transformers 1 1 3 Jul 2022 not harvested
Surface Representation for Point Clouds 1 1 11 May 2022 ran 2 of 15 samples (13 unverified)
Multimodal Token Fusion for Vision Transformers 11 3 19 Apr 2022 ran 1 of 3 samples (2 unverified; 1 pointer-only for licence)
End-to-end Learning for Joint Depth and Image Reconstruction from Diffracted Rotation 0 1 14 Apr 2022 not harvested
RBGNet: Ray-based Grouping for 3D Object Detection 1 1 5 Apr 2022 not harvested

The full list of 84 is in the JSON twin.

Dataset loaders archive 2025-07-28

open-mmlab/mmdetection3dopen-mmlab/mmdetection3dpytorch

1 loader as listed in the archive; links are outbound and not re-checked here.

Tasks archive 2025-07-28

Object DetectionSemantic Segmentation3D Object DetectionPanoptic SegmentationMonocular Depth EstimationMonocular 3D Object DetectionScene SegmentationScene RecognitionScene Classification (unified classes)Robust Semi-Supervised RGBD Semantic SegmentationObject Detection In Indoor ScenesRoom Layout EstimationPanoptic Segmentation (PanopticNDT instances)

License archive 2025-07-28

Unknown

Modalities archive 2025-07-28

ImagesInteractivePoint cloudRGB-D

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • SUN-RGBD
  • SUN-RGBD val
  • SUN RGB-D

3 variant names, as the archive lists them.

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