Our dataset

Scene graphs

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'scenegraphs' contains input and ground truth scene graphs, as well as the results of our algorithm and alternatives. Note that each scene graph (*.hier) only describes ancestry relations among nodes and geometry membership of each node (format). The actual geometries can be shared upon request. 'scenegraphs' consists of two directories:
cleaned, which are scene graphs without segmentation, i.e. leaf nodes are single objects.
oversegmented, which are scene graphs with segmentation, i.e. leaf nodes are the ones of the original scene graphs that are dowloaded from Trimble warehouse.

Each directory contains three scene categories: bedroom, classroom, library.

In each scene category, there are 5 subdirectories:
rawSceneGraphs: input scene graphs, without hierarchy or annotation.
gtSceneGraphs: ground-truth scene graphs, where annotation and hierarchies are created manually. These scene graphs are used both for training and evaluation.
predSceneGraphs: annotated hierarchical scene graphs that are created by our algorithm in the leave-one-out experiment (i.e. taking the ground-truth scene graphs of all other scenes in the same category as training data).
predShapeOnly: annotated scene graphs that are created by maximizing the geometry term (a.k.a. Shape only), in the leave-one-out experiment.
predFlat: annotated scene graphs that are created by our algorithm but the algorithm is forced to be flat (a.k.a. Flat grammar), in the leave-one-out experiment.

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