TO-Scene: A Large-scale Dataset for Understanding 3D Tabletop Scenes

Abstract

TO_ScanNet o b j in w h o le r o o m Transfer obj CADs onto real tables, by crowdsourcing Web UI Object CADs from ModelNet or ShapeNet TO_Vanilla Real Tables from ScanNet Source Datasets TO-Real Test up load sim to real autolabel TO_Crowd in cr ea se ob j TO-Scene BuildFigure 1: Overview of data acquisition framework and TO-Scene dataset. We firstly transfer object CADs [51, 5] onto real tables [11] via crowdsourcing Web UI. Then the tabletop scenes are simluated into real scans and annotated automatically. Three variants (TO_Vanilla, TO_Crowd and TO_ScanNet) are presented for various scenarios. A real-scanned test data TO-Real is provided to verify the practical value of TO-Scene.