CAD models
As part of the Deformable Cuboid paper I collected and annotated a bunch of 3D CAD models which I make available here. The models were collected via the Google's 3D Warehouse. I'm also providing some annotation and visualization functions for the use of these models in Matlab. All models and code are for non-commercial use. Please cite our work if you end up using any of the data or code.

People
  • Sanja Fidler

    • Code
  • Download the visualization + simple annotation code (12.5Mb)
    • CAD models
    The CAD models were downloaded from Google's 3D Warehouse. A tight 3D box was fit around each object. The orientation was annotated by clicking on the front and ground face of the box. All cars were roughly aligned to have orientation 0 (front face facing the camera) and length of 1.8m. For most cars we also provide a specific model (e.g., Volkswagen-Golf) and real-world dimensions (obtained online from car manufacturers). Note that the cars file also contains vans, cabriolets, and even a few formula 1. In principle, the annotation tells you the subclass. Functions for annotation and visualization (in matlab) are provided in the code.

  • Download the CAD models for cars (234Mb). There are 199 models, may include some duplicates.
  • Download the CAD models for beds (57Mb). There are 201 models, may include some duplicates.
  • Download the CAD models for sofas (76Mb). There are 296 models, may include some duplicates.
  • Download the CAD models for tables (24Mb). There are 90 models, may include some duplicates.

    • Contact
    For questions regarding the code and/or data please contact Sanja Fidler.

    Relevant Publications
    The code and data was developed as part of the following publication:

  • Sanja Fidler, Sven Dickinson, Raquel Urtasun
    3D Object Detection and Viewpoint Estimation with a Deformable 3D Cuboid Model   (spotlight)
    In Neural Information Processing Systems (NIPS), Lake Tahoe, USA, December 2012