Drive Link: Link
Please download the dataset.zip and unzip it in this folder. You can prepare the dataset on your own. For limiting the computation, each 3D point cloud object has 1024 number of points using farthest point sampling.
| session | class id | class name | session | class id | class name |
|---|---|---|---|---|---|
| 1 | 1 | backpack | 2 | 7 | bicycle |
| 1 | 22 | handbag | 2 | 24 | hydrant |
| 1 | 14 | carrot | 2 | 41 | toaster |
| 1 | 40 | teddybear | 2 | 9 | bottle |
| 1 | 10 | bowl | 2 | 29 | motorcycle |
| 1 | 16 | chair | 3 | 36 | sandwich |
| 1 | 48 | vase | 3 | 6 | bench |
| 1 | 8 | book | 3 | 44 | toyplane |
| 1 | 25 | keyboard | 3 | 17 | couch |
| 1 | 34 | plant | 3 | 13 | car |
| 1 | 2 | ball | 4 | 3 | banana |
| 1 | 21 | hairdryer | 4 | 19 | donut |
| 1 | 47 | umbrella | 4 | 38 | stopsign |
| 1 | 27 | laptop | 4 | 18 | cup |
| 1 | 31 | orange | 4 | 26 | kite |
| 1 | 45 | toytruck | 5 | 43 | toybus |
| 1 | 39 | suitcase | 5 | 33 | pizza |
| 1 | 49 | wineglass | 5 | 20 | frisbee |
| 1 | 30 | mouse | 5 | 5 | baseballglove |
| 1 | 15 | cellphone | 5 | 37 | skateboard |
| 1 | 11 | broccoli | 6 | 4 | baseballbat |
| 1 | 35 | remote | 6 | 23 | hotdog |
| 1 | 0 | apple | 6 | 28 | microwave |
| 1 | 12 | cake | 6 | 46 | tv |
| 1 | 42 | toilet | 6 | 32 | parkingmeter |
| session | class id | class name | session | class id | class name |
|---|---|---|---|---|---|
| 1 | 8 | chair | 2 | 28 | range_hood |
| 1 | 30 | sofa | 2 | 3 | bench |
| 1 | 0 | airplane | 2 | 9 | cone |
| 1 | 4 | bookshelf | 2 | 34 | tent |
| 1 | 2 | bed | 2 | 15 | flower_pot |
| 1 | 37 | vase | 3 | 20 | laptop |
| 1 | 22 | monitor | 3 | 18 | keyboard |
| 1 | 33 | table | 3 | 11 | curtain |
| 1 | 35 | toilet | 3 | 1 | bathtub |
| 1 | 5 | bottle | 3 | 29 | sink |
| 1 | 21 | mantel | 4 | 19 | lamp |
| 1 | 36 | tv_stand | 4 | 31 | stairs |
| 1 | 26 | plant | 4 | 13 | door |
| 1 | 25 | piano | 4 | 27 | radio |
| 1 | 7 | car | 4 | 39 | xbox |
| 1 | 12 | desk | 5 | 32 | stool |
| 1 | 14 | dresser | 5 | 24 | person |
| 1 | 23 | night_stand | 5 | 38 | wardrobe |
| 1 | 16 | glass_box | 5 | 10 | cup |
| 1 | 17 | guitar | 5 | 6 | bowl |
| session | class id | class name | session | class id | class name |
|---|---|---|---|---|---|
| 1 | 49 | table | 2 | 36 | motorbike |
| 1 | 18 | chair | 2 | 1 | trash bin |
| 1 | 0 | airplane | 2 | 25 | file cabinet |
| 1 | 17 | car | 2 | 40 | pistol |
| 1 | 47 | sofa | 2 | 38 | piano |
| 1 | 44 | rifle | 3 | 5 | bed |
| 1 | 30 | lamp | 3 | 48 | stove |
| 1 | 53 | watercraft | 3 | 37 | mug |
| 1 | 6 | bench | 3 | 11 | bowl |
| 1 | 32 | loudspeaker | 3 | 54 | washer |
| 1 | 13 | cabinet | 4 | 42 | printer |
| 1 | 22 | display | 4 | 27 | helmet |
| 1 | 12 | bus | 4 | 35 | microwaves |
| 1 | 4 | bathtub | 4 | 46 | skateboard |
| 1 | 26 | guitar | 4 | 51 | tower |
| 1 | 24 | faucet | 5 | 14 | camera |
| 1 | 19 | clock | 5 | 3 | basket |
| 1 | 41 | flowerpot | 5 | 15 | can |
| 1 | 28 | jar | 5 | 39 | pillow |
| 1 | 10 | bottle | 5 | 33 | mailbox |
| 1 | 31 | laptop | 6 | 21 | dishwasher |
| 1 | 9 | bookshelf | 6 | 45 | rocket |
| 1 | 50 | telephone | 6 | 2 | bag |
| 1 | 29 | knife | 6 | 8 | birdhouse |
| 1 | 52 | train | 6 | 23 | earphone |
| 7 | 34 | microphone | |||
| 7 | 43 | remote | |||
| 7 | 20 | keyboard | |||
| 7 | 7 | bicycle | |||
| 7 | 16 | cap |
| session | class id | class name | dataset | session | class id | class name | dataset |
|---|---|---|---|---|---|---|---|
| 1 | 0 | airplane | ModelNet | 1 | 19 | radio | ModelNet |
| 1 | 1 | bathtub | ModelNet | 1 | 20 | range hood | ModelNet |
| 1 | 2 | bottle | ModelNet | 1 | 21 | stairs | ModelNet |
| 1 | 3 | bowl | ModelNet | 1 | 22 | tent | ModelNet |
| 1 | 4 | car | ModelNet | 1 | 23 | tv stand | ModelNet |
| 1 | 5 | cone | ModelNet | 1 | 24 | vase | ModelNet |
| 1 | 6 | cup | ModelNet | 1 | 25 | xbox | ModelNet |
| 1 | 7 | curtain | ModelNet | 2 | 26 | cabinet | ScanObjectNN |
| 1 | 8 | flower pot | ModelNet | 2 | 27 | chair | ScanObjectNN |
| 1 | 9 | glass box | ModelNet | 2 | 28 | desk | ScanObjectNN |
| 1 | 10 | guitar | ModelNet | 2 | 29 | display | ScanObjectNN |
| 1 | 11 | keyboard | ModelNet | 3 | 30 | door | ScanObjectNN |
| 1 | 12 | lamp | ModelNet | 3 | 31 | shelf | ScanObjectNN |
| 1 | 13 | laptop | ModelNet | 3 | 32 | table | ScanObjectNN |
| 1 | 14 | mantel | ModelNet | 3 | 33 | bed | ScanObjectNN |
| 1 | 15 | night stand | ModelNet | 4 | 34 | sink | ScanObjectNN |
| 1 | 16 | person | ModelNet | 4 | 35 | sofa | ScanObjectNN |
| 1 | 17 | piano | ModelNet | 4 | 36 | toilet | ScanObjectNN |
| 1 | 18 | plant | ModelNet |
| session | class id | class name | dataset | session | class id | class name | dataset |
|---|---|---|---|---|---|---|---|
| 1 | 0 | airplane | ShapeNet | 3 | 44 | baseballglove | CO3D |
| 1 | 1 | trash bin | ShapeNet | 3 | 45 | bench | CO3D |
| 1 | 2 | basket | ShapeNet | 3 | 46 | bicycle | CO3D |
| 1 | 3 | bathtub | ShapeNet | 3 | 47 | book | CO3D |
| 1 | 4 | bed | ShapeNet | 3 | 48 | bottle | CO3D |
| 1 | 5 | birdhouse | ShapeNet | 4 | 49 | bowl | CO3D |
| 1 | 6 | bookshelf | ShapeNet | 4 | 50 | broccoli | CO3D |
| 1 | 7 | bus | ShapeNet | 4 | 51 | cake | CO3D |
| 1 | 8 | cabinet | ShapeNet | 4 | 52 | car | CO3D |
| 1 | 9 | camera | ShapeNet | 4 | 53 | carrot | CO3D |
| 1 | 10 | can | ShapeNet | 5 | 54 | cellphone | CO3D |
| 1 | 11 | cap | ShapeNet | 5 | 55 | chair | CO3D |
| 1 | 12 | clock | ShapeNet | 5 | 56 | couch | CO3D |
| 1 | 13 | dishwasher | ShapeNet | 5 | 57 | cup | CO3D |
| 1 | 14 | display | ShapeNet | 5 | 58 | donut | CO3D |
| 1 | 15 | faucet | ShapeNet | 6 | 59 | frisbee | CO3D |
| 1 | 16 | file cabinet | ShapeNet | 6 | 60 | hairdryer | CO3D |
| 1 | 17 | guitar | ShapeNet | 6 | 61 | handbag | CO3D |
| 1 | 18 | helmet | ShapeNet | 6 | 62 | hotdog | CO3D |
| 1 | 19 | jar | ShapeNet | 6 | 63 | hydrant | CO3D |
| 1 | 20 | knife | ShapeNet | 7 | 64 | keyboard | CO3D |
| 1 | 21 | lamp | ShapeNet | 7 | 65 | kite | CO3D |
| 1 | 22 | loudspeaker | ShapeNet | 7 | 66 | laptop | CO3D |
| 1 | 23 | mailbox | ShapeNet | 7 | 67 | microwave | CO3D |
| 1 | 24 | microphone | ShapeNet | 7 | 68 | motorcycle | CO3D |
| 1 | 25 | mug | ShapeNet | 8 | 69 | mouse | CO3D |
| 1 | 26 | piano | ShapeNet | 8 | 70 | orange | CO3D |
| 1 | 27 | pillow | ShapeNet | 8 | 71 | parkingmeter | CO3D |
| 1 | 28 | pistol | ShapeNet | 8 | 72 | pizza | CO3D |
| 1 | 29 | flowerpot | ShapeNet | 8 | 73 | plant | CO3D |
| 1 | 30 | printer | ShapeNet | 9 | 74 | remote | CO3D |
| 1 | 31 | rifle | ShapeNet | 9 | 75 | sandwich | CO3D |
| 1 | 32 | rocket | ShapeNet | 9 | 76 | skateboard | CO3D |
| 1 | 33 | stove | ShapeNet | 9 | 77 | stopsign | CO3D |
| 1 | 34 | table | ShapeNet | 10 | 78 | suitcase | CO3D |
| 1 | 35 | tower | ShapeNet | 10 | 79 | teddybear | CO3D |
| 1 | 36 | train | ShapeNet | 10 | 80 | toaster | CO3D |
| 1 | 37 | vessel | ShapeNet | 10 | 81 | toilet | CO3D |
| 1 | 38 | washer | ShapeNet | 10 | 82 | toybus | CO3D |
| 2 | 39 | apple | CO3D | 10 | 83 | toyplane | CO3D |
| 2 | 40 | backpack | CO3D | 11 | 84 | toytruck | CO3D |
| 2 | 41 | ball | CO3D | 11 | 85 | tv | CO3D |
| 2 | 42 | banana | CO3D | 11 | 86 | umbrella | CO3D |
| 2 | 43 | baseballbat | CO3D | 11 | 87 | vase | CO3D |
| 11 | 88 | wineglass | CO3D |
| session | class id | class name | dataset | session | class id | class name | dataset |
|---|---|---|---|---|---|---|---|
| 1 | 0 | airplane | ShapeNet | 1 | 30 | piano | ShapeNet |
| 1 | 1 | basket | ShapeNet | 1 | 31 | pistol | ShapeNet |
| 1 | 2 | bathtub | ShapeNet | 1 | 32 | flowerpot | ShapeNet |
| 1 | 3 | bench | ShapeNet | 1 | 33 | printer | ShapeNet |
| 1 | 4 | bicycle | ShapeNet | 1 | 34 | remote | ShapeNet |
| 1 | 5 | birdhouse | ShapeNet | 1 | 35 | rifle | ShapeNet |
| 1 | 6 | bottle | ShapeNet | 1 | 36 | rocket | ShapeNet |
| 1 | 7 | bowl | ShapeNet | 1 | 37 | skateboard | ShapeNet |
| 1 | 8 | bus | ShapeNet | 1 | 38 | stove | ShapeNet |
| 1 | 9 | camera | ShapeNet | 1 | 39 | telephone | ShapeNet |
| 1 | 10 | can | ShapeNet | 1 | 40 | tower | ShapeNet |
| 1 | 11 | cap | ShapeNet | 1 | 41 | train | ShapeNet |
| 1 | 12 | car | ShapeNet | 1 | 42 | watercraft | ShapeNet |
| 1 | 13 | clock | ShapeNet | 1 | 43 | washer | ShapeNet |
| 1 | 14 | keyboard | ShapeNet | 2 | 44 | bag | ScanObjectNN |
| 1 | 15 | dishwasher | ShapeNet | 2 | 45 | bin | ScanObjectNN |
| 1 | 16 | earphone | ShapeNet | 2 | 46 | box | ScanObjectNN |
| 1 | 17 | faucet | ShapeNet | 2 | 47 | cabinet | ScanObjectNN |
| 1 | 18 | file cabinet | ShapeNet | 2 | 48 | chair | ScanObjectNN |
| 1 | 19 | guitar | ShapeNet | 3 | 49 | desk | ScanObjectNN |
| 1 | 20 | helmet | ShapeNet | 3 | 50 | display | ScanObjectNN |
| 1 | 21 | jar | ShapeNet | 3 | 51 | door | ScanObjectNN |
| 1 | 22 | knife | ShapeNet | 3 | 52 | shelf | ScanObjectNN |
| 1 | 23 | lamp | ShapeNet | 3 | 53 | table | ScanObjectNN |
| 1 | 24 | laptop | ShapeNet | 4 | 54 | bed | ScanObjectNN |
| 1 | 25 | loudspeaker | ShapeNet | 4 | 55 | pillow | ScanObjectNN |
| 1 | 26 | microphone | ShapeNet | 4 | 56 | sink | ScanObjectNN |
| 1 | 27 | microwaves | ShapeNet | 4 | 57 | sofa | ScanObjectNN |
| 1 | 28 | motorbike | ShapeNet | 4 | 58 | toilet | ScanObjectNN |
| 1 | 29 | mug | ShapeNet |