ScanEnts3D Dataset

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Nr3D-ScanEnts3D

ScanRefer-ScanEnts3D

Format

Our annotations are provided for each utterance in Nr3D and ScanRefer as an array of entities, where entity represents a correspondence between a noun phrase (provided as token indicies) and its 3D objects (provided as 3D object-ids). We are using the official tokens provided by Referit3D Nr3D and ScanRefer datasets.

Here is an example for ScanRefer :

{
 "scene_id": "scene0000_00",
 "object_id": "45",
 "object_name": "toaster_oven",
 "ann_id": "3",
 "description": "there is a silver bread toaster. placed next to the fridge.",
 "token":[ "there", "is", "a", "silver", "bread", "toaster",".", "placed", "next", "to", "the","fridge","."],
 "entities": [
   [ # First entity
     [4, 5], # 0-indexed token indicies
     ["45_toaster_oven"] # Array of object-id and object label
   ],
   [ # Second entity
     [11],
     ["33_refrigerator"]
   ]]
}


For Nr3D, we provide the entities as a column in the provided csv file.