Spatial LM: 19,992 Indoor Point Clouds with 3D Layout Annotations

19,992 indoor room point clouds with structured 3D layout and object annotations, released by Voxel51 as part of the SpatialLM benchmark. Each sample consists of a colored point cloud paired with 3D bounding boxes for architectural features and furniture, updated in March 2026.

Use Cases

• 3D object detection for furniture using 3D bounding box annotations
• Indoor layout estimation focusing on wall, door, and window detection
• Spatial reasoning benchmarking for models using the SpatialLM structured data

Strengths

• 19,992 3D scene samples
• 3D bounding box annotations for both structural elements and furniture
• Native FiftyOne (.fo3d) format for integrated visualization and querying

Limitations

• Limited to indoor room environments
• Requires FiftyOne library for standard data access and scene parsing

Provenance

Source

Voxel51 / SpatialLM Benchmark (Arxiv:250607491)

Freshness

Last updated March 2026