3D Scene Graphs

该数据集包含了1500个综合场景图，用于评估分层机械搜索（HMS）模型。其中，1000个独特的场景图用于训练，另外500个用于测试。这些场景图在存储位置上密集放置了语义相关的对象。此外，数据集精选了来自谷歌扫描对象集合的135个3D对象模型，以及29个额外的模型，这些模型被分为26个类别。训练和测试场景图在容器和对象放置的概率上有所不同。该数据集的规模为1500个场景图（其中1000个用于训练，500个用于测试），其任务是在室内环境中进行对象搜索。

This dataset comprises 1500 comprehensive scene graphs for evaluating hierarchical mechanical search (HMS) models. Of these, 1000 unique scene graphs are allocated for training, while the remaining 500 are reserved for testing. These scene graphs densely arrange semantically related objects within their respective storage locations. Furthermore, the dataset curates 135 3D object models sourced from the Google Scanned Objects collection, plus 29 additional models, which are categorized into 26 classes. The training and testing scene graphs exhibit differences in the probabilities of container configuration and object placement. With a total scale of 1500 scene graphs (1000 for training and 500 for testing), the target task of this dataset is object search within indoor environments.