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language:
- en
- zh
license: cc-by-4.0
task_categories:
- other
tags:
- 3d
- point-cloud
- visual-grounding
- sequential
- indoor-scene
size_categories:
- 100K<n<1M
---
# Sequential 3D Visual Grounding Dataset
5 indoor datasets (ScanNet, HM3D, 3RScan, ARKitScenes, MultiScan) · 10301 scenes · 117885 sequences · 579872 steps
## Overview
| Dataset | Scenes | Train | Val | Test |
|---------|-------:|------:|----:|-----:|
| ScanNet | 1513 | 14501 | 1700 | 1808 |
| HM3D | 2302 | 33302 | 7663 | 4232 |
| 3RScan | 1381 | 13826 | 4864 | 1937 |
| ARKitScenes | 4834 | 24349 | 1394 | 2653 |
| MultiScan | 271 | 4133 | 858 | 665 |
| **Total** | **10301** | **90111** | **16479** | **11295** |
## Annotation
Each step has one **target** (the object to locate) and zero or more **anchors** (reference objects).
Anchors are extracted from prepositional objects, verified against scene instances, and enforced different from target.
- target_id non-null: 99.98%
- Anchor distribution: 0 = 1.8%, 1 = 36.0%, ≥2 = 62.2%
- 0 out-of-range / anchor==target violations
Full spec: [DATASET_RECONSTRUCTION_GUIDE.md](DATASET_RECONSTRUCTION_GUIDE.md) (English + 中文)
## Structure
```
├── annotations/
│ ├── dynamic_data/ # {dataset}_{train,val,test}.json
│ ├── splits/ # {dataset}_{train,val,test}.txt
│ └── meta_data/ # 607 categories, synonym map, label TSV
├── scan_data/ # 3D-VisTA instance attributes
│ └── {Dataset}/scan_data/
│ ├── instance_id_to_name/ # {scene}.json (list[str])
│ ├── instance_id_to_loc/ # {scene}.npy ((n,6) center+size)
│ └── instance_id_to_gmm_color/ # {scene}.json (color GMM)
└── final_qc_report.json
```
## Usage
1. Point 3D-VisTA's `SCAN_FAMILY_BASE` to `scan_data/`.
2. Load `annotations/dynamic_data/{dataset}_{split}.json`.
3. Strip `{Dataset}_` prefix from `scan_id` to get the scene name.
Source code and reproduction scripts: [GitHub](https://github.com/itszhaoziyan-n/sequential-grounding-data)
## Sources
- Point clouds: [SceneVerse](https://scene-verse.github.io/)
- Sequential annotations: [SG3D](https://github.com/sg-3d/sg3d) + SceneVerse SSG
- Target/anchor definition: v2 grounding-centric (this work)
## License
Refer to the original dataset licenses (ScanNet, HM3D, 3RScan, ARKitScenes, MultiScan) and SceneVerse terms.
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