Datasets:
Tasks:
Image-to-3D
Modalities:
Image
Formats:
parquet
Languages:
English
Size:
10K - 100K
ArXiv:
License:
metadata
dataset_info:
features:
- name: image
dtype: image
- name: depth
dtype: image
- name: mask
dtype: image
- name: transform_matrix
sequence:
sequence: float64
length: 4
length: 4
- name: rotation
dtype: float32
splits:
- name: cube_mmncvx_ampoule
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_ampoule
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_ampoule
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_beaker
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_beaker
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_beaker
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_conical_flask
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_conical_flask
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_conical_flask
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_flower_vase
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_flower_vase
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_flower_vase
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_graduated_cylinder
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_graduated_cylinder
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_graduated_cylinder
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_household_item_set
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_household_item_set
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_household_item_set
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_perfume_red
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_perfume_red
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_perfume_red
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_perfume_yellow
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_perfume_yellow
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_perfume_yellow
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_plastic_bottle
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_plastic_bottle
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_plastic_bottle
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_reed_diffuser
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_reed_diffuser
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_reed_diffuser
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_round_bottom_flask
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_round_bottom_flask
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_round_bottom_flask
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_skull_bottle
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_skull_bottle
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_skull_bottle
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_star_shaped_bottle
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_star_shaped_bottle
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_star_shaped_bottle
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_syringe
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_syringe
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_syringe
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_teacup
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_teacup
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_teacup
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_test_tube
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_test_tube
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_test_tube
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_vial
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_vial
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_vial
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_water_pitcher
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_water_pitcher
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_water_pitcher
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_wine_glass
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_wine_glass
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_wine_glass
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_wisolt_kettle
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_wisolt_kettle
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_wisolt_kettle
num_bytes: 673141617
num_examples: 300
- name: cube_smcvx_ball
num_bytes: 673141617
num_examples: 300
- name: cube_smcvx_ball_coloured
num_bytes: 673141617
num_examples: 300
- name: cube_smcvx_cube
num_bytes: 673141617
num_examples: 300
- name: cube_smcvx_cube_coloured
num_bytes: 673141617
num_examples: 300
- name: cube_smcvx_cylinder
num_bytes: 673141617
num_examples: 300
- name: cube_smcvx_cylinder_coloured
num_bytes: 673141617
num_examples: 300
- name: cube_smcvx_diamond
num_bytes: 673141617
num_examples: 300
- name: cube_smcvx_pyramid
num_bytes: 673141617
num_examples: 300
- name: cube_smcvx_pyramid_coloured
num_bytes: 673141617
num_examples: 300
- name: cube_mmncvx_lab_equipment_set
num_bytes: 673141617
num_examples: 300
- name: sphere_mmncvx_lab_equipment_set
num_bytes: 673141617
num_examples: 300
- name: env_mmncvx_lab_equipment_set
num_bytes: 673141617
num_examples: 300
- name: sphere_smcvx_ball_coloured
num_bytes: 673141617
num_examples: 300
- name: sphere_smcvx_cube
num_bytes: 673141617
num_examples: 300
- name: sphere_smcvx_cube_coloured
num_bytes: 673141617
num_examples: 300
- name: sphere_smcvx_cylinder
num_bytes: 673141617
num_examples: 300
- name: sphere_smcvx_cylinder_coloured
num_bytes: 673141617
num_examples: 300
- name: sphere_smcvx_diamond
num_bytes: 673141617
num_examples: 300
- name: sphere_smcvx_pyramid
num_bytes: 673141617
num_examples: 300
- name: sphere_smcvx_pyramid_coloured
num_bytes: 673141617
num_examples: 300
- name: sphere_smcvx_ball
num_bytes: 673141617
num_examples: 300
- name: env_smcvx_ball
num_bytes: 673141617
num_examples: 300
- name: env_smcvx_ball_coloured
num_bytes: 673141617
num_examples: 300
- name: env_smcvx_cube
num_bytes: 673141617
num_examples: 300
- name: env_smcvx_cube_coloured
num_bytes: 673141617
num_examples: 300
- name: env_smcvx_cylinder
num_bytes: 673141617
num_examples: 300
- name: env_smcvx_cylinder_coloured
num_bytes: 673141617
num_examples: 300
- name: env_smcvx_diamond
num_bytes: 673141617
num_examples: 300
- name: env_smcvx_pyramid
num_bytes: 673141617
num_examples: 300
- name: env_smcvx_pyramid_coloured
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_candle_holder
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_cat
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_cola
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_cow
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_crystal_vase
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_demijohn_vase
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_dog
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_fox
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_generic_sculpture
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_Korken_jar
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_light_bulb
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_magnifier
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_man_sculpture
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_monkey
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_sleeping_dragon
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_teapot
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_torus
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_torus_coloured
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_Vardagen_jar
num_bytes: 673141617
num_examples: 300
- name: cube_smncvx_woman_sculpture
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_candle_holder
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_cat
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_cola
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_cow
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_crystal_vase
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_demijohn_vase
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_dog
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_fox
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_generic_sculpture
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_Korken_jar
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_light_bulb
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_magnifier
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_man_sculpture
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_monkey
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_sleeping_dragon
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_teapot
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_torus
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_torus_coloured
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_Vardagen_jar
num_bytes: 673141617
num_examples: 300
- name: env_smncvx_woman_sculpture
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_candle_holder
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_cat
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_cola
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_cow
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_crystal_vase
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_demijohn_vase
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_dog
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_fox
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_generic_sculpture
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_Korken_jar
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_light_bulb
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_magnifier
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_man_sculpture
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_monkey
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_sleeping_dragon
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_teapot
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_torus
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_torus_coloured
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_Vardagen_jar
num_bytes: 673141617
num_examples: 300
- name: sphere_smncvx_woman_sculpture
num_bytes: 673141617
num_examples: 300
download_size: 41285178720
dataset_size: 100971242550
configs:
- config_name: cubebg_multiple-non-convex
data_files:
- split: cube_mmncvx_ampoule
path: data/cube_mmncvx_ampoule-*
- split: cube_mmncvx_beaker
path: data/cube_mmncvx_beaker-*
- split: cube_mmncvx_conical_flask
path: data/cube_mmncvx_conical_flask-*
- split: cube_mmncvx_flower_vase
path: data/cube_mmncvx_flower_vase-*
- split: cube_mmncvx_graduated_cylinder
path: data/cube_mmncvx_graduated_cylinder-*
- split: cube_mmncvx_household_item_set
path: data/cube_mmncvx_household_item_set-*
- split: cube_mmncvx_lab_equipment_set
path: data/cube_mmncvx_lab_equipment_set-*
- split: cube_mmncvx_perfume_red
path: data/cube_mmncvx_perfume_red-*
- split: cube_mmncvx_perfume_yellow
path: data/cube_mmncvx_perfume_yellow-*
- split: cube_mmncvx_plastic_bottle
path: data/cube_mmncvx_plastic_bottle-*
- split: cube_mmncvx_reed_diffuser
path: data/cube_mmncvx_reed_diffuser-*
- split: cube_mmncvx_round_bottom_flask
path: data/cube_mmncvx_round_bottom_flask-*
- split: cube_mmncvx_skull_bottle
path: data/cube_mmncvx_skull_bottle-*
- split: cube_mmncvx_star_shaped_bottle
path: data/cube_mmncvx_star_shaped_bottle-*
- split: cube_mmncvx_syringe
path: data/cube_mmncvx_syringe-*
- split: cube_mmncvx_teacup
path: data/cube_mmncvx_teacup-*
- split: cube_mmncvx_test_tube
path: data/cube_mmncvx_test_tube-*
- split: cube_mmncvx_vial
path: data/cube_mmncvx_vial-*
- split: cube_mmncvx_water_pitcher
path: data/cube_mmncvx_water_pitcher-*
- split: cube_mmncvx_wine_glass
path: data/cube_mmncvx_wine_glass-*
- split: cube_mmncvx_wisolt_kettle
path: data/cube_mmncvx_wisolt_kettle-*
- config_name: cubebg_single-convex
data_files:
- split: cube_smcvx_ball
path: data/cube_smcvx_ball-*
- split: cube_smcvx_ball_coloured
path: data/cube_smcvx_ball_coloured-*
- split: cube_smcvx_cube
path: data/cube_smcvx_cube-*
- split: cube_smcvx_cube_coloured
path: data/cube_smcvx_cube_coloured-*
- split: cube_smcvx_cylinder
path: data/cube_smcvx_cylinder-*
- split: cube_smcvx_cylinder_coloured
path: data/cube_smcvx_cylinder_coloured-*
- split: cube_smcvx_diamond
path: data/cube_smcvx_diamond-*
- split: cube_smcvx_pyramid
path: data/cube_smcvx_pyramid-*
- split: cube_smcvx_pyramid_coloured
path: data/cube_smcvx_pyramid_coloured-*
- config_name: cubebg_single-non-convex
data_files:
- split: cube_smncvx_candle_holder
path: data/cube_smncvx_candle_holder-*
- split: cube_smncvx_cat
path: data/cube_smncvx_cat-*
- split: cube_smncvx_cola
path: data/cube_smncvx_cola-*
- split: cube_smncvx_cow
path: data/cube_smncvx_cow-*
- split: cube_smncvx_crystal_vase
path: data/cube_smncvx_crystal_vase-*
- split: cube_smncvx_demijohn_vase
path: data/cube_smncvx_demijohn_vase-*
- split: cube_smncvx_dog
path: data/cube_smncvx_dog-*
- split: cube_smncvx_fox
path: data/cube_smncvx_fox-*
- split: cube_smncvx_generic_sculpture
path: data/cube_smncvx_generic_sculpture-*
- split: cube_smncvx_Korken_jar
path: data/cube_smncvx_Korken_jar-*
- split: cube_smncvx_light_bulb
path: data/cube_smncvx_light_bulb-*
- split: cube_smncvx_magnifier
path: data/cube_smncvx_magnifier-*
- split: cube_smncvx_man_sculpture
path: data/cube_smncvx_man_sculpture-*
- split: cube_smncvx_monkey
path: data/cube_smncvx_monkey-*
- split: cube_smncvx_sleeping_dragon
path: data/cube_smncvx_sleeping_dragon-*
- split: cube_smncvx_teapot
path: data/cube_smncvx_teapot-*
- split: cube_smncvx_torus
path: data/cube_smncvx_torus-*
- split: cube_smncvx_torus_coloured
path: data/cube_smncvx_torus_coloured-*
- split: cube_smncvx_Vardagen_jar
path: data/cube_smncvx_Vardagen_jar-*
- split: cube_smncvx_woman_sculpture
path: data/cube_smncvx_woman_sculpture-*
- config_name: envbg_multiple-non-convex
data_files:
- split: env_mmncvx_ampoule
path: data/env_mmncvx_ampoule-*
- split: env_mmncvx_beaker
path: data/env_mmncvx_beaker-*
- split: env_mmncvx_conical_flask
path: data/env_mmncvx_conical_flask-*
- split: env_mmncvx_flower_vase
path: data/env_mmncvx_flower_vase-*
- split: env_mmncvx_graduated_cylinder
path: data/env_mmncvx_graduated_cylinder-*
- split: env_mmncvx_household_item_set
path: data/env_mmncvx_household_item_set-*
- split: env_mmncvx_lab_equipment_set
path: data/env_mmncvx_lab_equipment_set-*
- split: env_mmncvx_perfume_red
path: data/env_mmncvx_perfume_red-*
- split: env_mmncvx_perfume_yellow
path: data/env_mmncvx_perfume_yellow-*
- split: env_mmncvx_plastic_bottle
path: data/env_mmncvx_plastic_bottle-*
- split: env_mmncvx_reed_diffuser
path: data/env_mmncvx_reed_diffuser-*
- split: env_mmncvx_round_bottom_flask
path: data/env_mmncvx_round_bottom_flask-*
- split: env_mmncvx_skull_bottle
path: data/env_mmncvx_skull_bottle-*
- split: env_mmncvx_star_shaped_bottle
path: data/env_mmncvx_star_shaped_bottle-*
- split: env_mmncvx_syringe
path: data/env_mmncvx_syringe-*
- split: env_mmncvx_teacup
path: data/env_mmncvx_teacup-*
- split: env_mmncvx_test_tube
path: data/env_mmncvx_test_tube-*
- split: env_mmncvx_vial
path: data/env_mmncvx_vial-*
- split: env_mmncvx_water_pitcher
path: data/env_mmncvx_water_pitcher-*
- split: env_mmncvx_wine_glass
path: data/env_mmncvx_wine_glass-*
- split: env_mmncvx_wisolt_kettle
path: data/env_mmncvx_wisolt_kettle-*
- config_name: envbg_single-convex
data_files:
- split: env_smcvx_ball
path: data/env_smcvx_ball-*
- split: env_smcvx_ball_coloured
path: data/env_smcvx_ball_coloured-*
- split: env_smcvx_cube
path: data/env_smcvx_cube-*
- split: env_smcvx_cube_coloured
path: data/env_smcvx_cube_coloured-*
- split: env_smcvx_cylinder
path: data/env_smcvx_cylinder-*
- split: env_smcvx_cylinder_coloured
path: data/env_smcvx_cylinder_coloured-*
- split: env_smcvx_diamond
path: data/env_smcvx_diamond-*
- split: env_smcvx_pyramid
path: data/env_smcvx_pyramid-*
- split: env_smcvx_pyramid_coloured
path: data/env_smcvx_pyramid_coloured-*
- config_name: envbg_single-non-convex
data_files:
- split: env_smncvx_candle_holder
path: data/env_smncvx_candle_holder-*
- split: env_smncvx_cat
path: data/env_smncvx_cat-*
- split: env_smncvx_cola
path: data/env_smncvx_cola-*
- split: env_smncvx_cow
path: data/env_smncvx_cow-*
- split: env_smncvx_crystal_vase
path: data/env_smncvx_crystal_vase-*
- split: env_smncvx_demijohn_vase
path: data/env_smncvx_demijohn_vase-*
- split: env_smncvx_dog
path: data/env_smncvx_dog-*
- split: env_smncvx_fox
path: data/env_smncvx_fox-*
- split: env_smncvx_generic_sculpture
path: data/env_smncvx_generic_sculpture-*
- split: env_smncvx_Korken_jar
path: data/env_smncvx_Korken_jar-*
- split: env_smncvx_light_bulb
path: data/env_smncvx_light_bulb-*
- split: env_smncvx_magnifier
path: data/env_smncvx_magnifier-*
- split: env_smncvx_man_sculpture
path: data/env_smncvx_man_sculpture-*
- split: env_smncvx_monkey
path: data/env_smncvx_monkey-*
- split: env_smncvx_sleeping_dragon
path: data/env_smncvx_sleeping_dragon-*
- split: env_smncvx_teapot
path: data/env_smncvx_teapot-*
- split: env_smncvx_torus
path: data/env_smncvx_torus-*
- split: env_smncvx_torus_coloured
path: data/env_smncvx_torus_coloured-*
- split: env_smncvx_Vardagen_jar
path: data/env_smncvx_Vardagen_jar-*
- split: env_smncvx_woman_sculpture
path: data/env_smncvx_woman_sculpture-*
- config_name: spherebg_multiple-non-convex
data_files:
- split: sphere_mmncvx_ampoule
path: data/sphere_mmncvx_ampoule-*
- split: sphere_mmncvx_beaker
path: data/sphere_mmncvx_beaker-*
- split: sphere_mmncvx_conical_flask
path: data/sphere_mmncvx_conical_flask-*
- split: sphere_mmncvx_flower_vase
path: data/sphere_mmncvx_flower_vase-*
- split: sphere_mmncvx_graduated_cylinder
path: data/sphere_mmncvx_graduated_cylinder-*
- split: sphere_mmncvx_household_item_set
path: data/sphere_mmncvx_household_item_set-*
- split: sphere_mmncvx_lab_equipment_set
path: data/sphere_mmncvx_lab_equipment_set-*
- split: sphere_mmncvx_perfume_red
path: data/sphere_mmncvx_perfume_red-*
- split: sphere_mmncvx_perfume_yellow
path: data/sphere_mmncvx_perfume_yellow-*
- split: sphere_mmncvx_plastic_bottle
path: data/sphere_mmncvx_plastic_bottle-*
- split: sphere_mmncvx_reed_diffuser
path: data/sphere_mmncvx_reed_diffuser-*
- split: sphere_mmncvx_round_bottom_flask
path: data/sphere_mmncvx_round_bottom_flask-*
- split: sphere_mmncvx_skull_bottle
path: data/sphere_mmncvx_skull_bottle-*
- split: sphere_mmncvx_star_shaped_bottle
path: data/sphere_mmncvx_star_shaped_bottle-*
- split: sphere_mmncvx_syringe
path: data/sphere_mmncvx_syringe-*
- split: sphere_mmncvx_teacup
path: data/sphere_mmncvx_teacup-*
- split: sphere_mmncvx_test_tube
path: data/sphere_mmncvx_test_tube-*
- split: sphere_mmncvx_vial
path: data/sphere_mmncvx_vial-*
- split: sphere_mmncvx_water_pitcher
path: data/sphere_mmncvx_water_pitcher-*
- split: sphere_mmncvx_wine_glass
path: data/sphere_mmncvx_wine_glass-*
- split: sphere_mmncvx_wisolt_kettle
path: data/sphere_mmncvx_wisolt_kettle-*
- config_name: spherebg_single-convex
data_files:
- split: sphere_smcvx_ball
path: data/sphere_smcvx_ball-*
- split: sphere_smcvx_ball_coloured
path: data/sphere_smcvx_ball_coloured-*
- split: sphere_smcvx_cube
path: data/sphere_smcvx_cube-*
- split: sphere_smcvx_cube_coloured
path: data/sphere_smcvx_cube_coloured-*
- split: sphere_smcvx_cylinder
path: data/sphere_smcvx_cylinder-*
- split: sphere_smcvx_cylinder_coloured
path: data/sphere_smcvx_cylinder_coloured-*
- split: sphere_smcvx_diamond
path: data/sphere_smcvx_diamond-*
- split: sphere_smcvx_pyramid
path: data/sphere_smcvx_pyramid-*
- split: sphere_smcvx_pyramid_coloured
path: data/sphere_smcvx_pyramid_coloured-*
- config_name: spherebg_single-non-convex
data_files:
- split: sphere_smncvx_candle_holder
path: data/sphere_smncvx_candle_holder-*
- split: sphere_smncvx_cat
path: data/sphere_smncvx_cat-*
- split: sphere_smncvx_cola
path: data/sphere_smncvx_cola-*
- split: sphere_smncvx_cow
path: data/sphere_smncvx_cow-*
- split: sphere_smncvx_crystal_vase
path: data/sphere_smncvx_crystal_vase-*
- split: sphere_smncvx_demijohn_vase
path: data/sphere_smncvx_demijohn_vase-*
- split: sphere_smncvx_dog
path: data/sphere_smncvx_dog-*
- split: sphere_smncvx_fox
path: data/sphere_smncvx_fox-*
- split: sphere_smncvx_generic_sculpture
path: data/sphere_smncvx_generic_sculpture-*
- split: sphere_smncvx_Korken_jar
path: data/sphere_smncvx_Korken_jar-*
- split: sphere_smncvx_light_bulb
path: data/sphere_smncvx_light_bulb-*
- split: sphere_smncvx_magnifier
path: data/sphere_smncvx_magnifier-*
- split: sphere_smncvx_man_sculpture
path: data/sphere_smncvx_man_sculpture-*
- split: sphere_smncvx_monkey
path: data/sphere_smncvx_monkey-*
- split: sphere_smncvx_sleeping_dragon
path: data/sphere_smncvx_sleeping_dragon-*
- split: sphere_smncvx_teapot
path: data/sphere_smncvx_teapot-*
- split: sphere_smncvx_torus
path: data/sphere_smncvx_torus-*
- split: sphere_smncvx_torus_coloured
path: data/sphere_smncvx_torus_coloured-*
- split: sphere_smncvx_Vardagen_jar
path: data/sphere_smncvx_Vardagen_jar-*
- split: sphere_smncvx_woman_sculpture
path: data/sphere_smncvx_woman_sculpture-*
task_categories:
- image-to-3d
language:
- en
size_categories:
- 10K<n<100K
license: apache-2.0
RefRef: A Synthetic Dataset and Benchmark for Reconstructing Refractive and Reflective Objects
Abstract
Modern 3D reconstruction and novel view synthesis approaches have demonstrated strong performance on scenes with opaque Lambertian objects. However, most assume straight light paths and therefore cannot properly handle refractive and reflective materials. Moreover, datasets specialized for these effects are limited, stymieing efforts to evaluate performance and develop suitable techniques. In this work, we introduce a synthetic RefRef dataset and benchmark for reconstructing scenes with refractive and reflective objects from posed images. Our dataset has 50 such objects of varying complexity, from single-material convex shapes to multi-material non-convex shapes, each placed in three different background types, resulting in 150 scenes. We also propose an oracle method that, given the object geometry and refractive indices, calculates accurate light paths for neural rendering, and an approach based on this that avoids these assumptions. We benchmark these against several state-of-the-art methods and show that all methods lag significantly behind the oracle, highlighting the challenges of the task and dataset.
Dataset Overview
RefRef is a synthetic dataset and benchmark designed for the task of reconstructing scenes with complex refractive and reflective objects. Our dataset consists of 50 objects categorized based on their geometric and material complexity: single-material convex objects, single-material non-convex objects, and multi-material non-convex objects, where the materials have different colors, opacities, and refractive indices. Each object is placed in three distinct bounded environments and one unbounded environment, resulting in 150 unique scenes with diverse geometries, material properties, and backgrounds. Our dataset provides a controlled setting for evaluating and developing 3D reconstruction and novel view synthesis methods that handle complex optical effects.
Directory Structure
RefRef/
├── data # parquet files
├── README.md
├── scene_list.txt # A list of all 150 scenes
└── object_materials.json # Optical material properties (IOR values) and categories for all objects
Object and Scenes
The dataset includes 50 objects categorised into three groups based on their complexity, material composition, and shape:
single-convex(27 scenes): Objects with convex geometries, each composed of a single refractive material, such as transparent cubes, balls, and pyramids.single-non-convex(60 scenes): Objects with non-convex geometries, each composed of a single refractive material, such as animal sculptures, glass jars, light bulbs, candle holders, and magnifiers.multiple-non-convex(63 scenes): Objects with non-convex geometries, each composed of multiple refractive materials or a combination of refractive and opaque materials, such as reed diffusers, a glass of wine, and flasks filled with chemical liquid.
Each object is placed in three distinct scenes:
textured_cube_scene: Objects placed within a bounded textured cube environment.textured_sphere_scene: Objects placed within a bounded textured sphere environment.environment_map_scene: Objects placed in an unbounded environment map background.
Citation
@misc{yin2025refrefsyntheticdatasetbenchmark,
title={RefRef: A Synthetic Dataset and Benchmark for Reconstructing Refractive and Reflective Objects},
author={Yue Yin and Enze Tao and Weijian Deng and Dylan Campbell},
year={2025},
eprint={2505.05848},
archivePrefix={arXiv},
primaryClass={cs.CV},
url={https://arxiv.org/abs/2505.05848},
}