Video
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stringlengths 57
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stringclasses 5
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|---|---|---|---|---|---|---|---|---|---|---|---|---|
scene0106_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 77.4 |
{
"A": "16°",
"B": "33°",
"C": "23°",
"D": "6°",
"E": "2°"
}
|
D
|
6.28°
| 7 |
indoor
|
|
scene0107_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the white bed with pillows, next to black nightstands and lamps, from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: White bed with pillows, next to black nightstands and lamps.
| 27.1 | 27.1 |
{
"A": "{\"C_lwh\": [2.37, 2.32, 1.80], \"C_central_point\": [0.27, 1.52, 1.23], \"C_heading\": 38.48}",
"B": "{\"C_lwh\": [2.56, 2.51, 1.99], \"C_central_point\": [0.46, 1.71, 1.42], \"C_heading\": 39.10}",
"C": "{\"C_lwh\": [2.25, 2.19, 1.68], \"C_central_point\": [0.14, 1.40, 1.11], \"C_heading\": 38.35}",
"D": "{\"C_lwh\": [2.12, 2.07, 1.55], \"C_central_point\": [0.02, 1.27, 1.05], \"C_heading\": 37.85}",
"E": "{\"C_lwh\": [2.75, 2.69, 2.17], \"C_central_point\": [0.65, 1.90, 1.54], \"C_heading\": 37.23}"
}
|
D
|
{"C_lwh": [2.12, 2.07, 1.55], "C_central_point": [0.02, 1.27, -1.05], "C_heading": -37.85}
| 0 |
indoor
|
scene0107_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the black office chair beside the dark wooden desk from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: Black office chair beside dark wooden desk.
| 72.1 | 72.1 |
{
"A": "{\"C_lwh\": [0.78, 0.68, 1.10], \"C_central_point\": [1.05, 3.06, 6.73], \"C_heading\": 106.14}",
"B": "{\"C_lwh\": [0.78, 0.68, 1.10], \"C_central_point\": [1.11, 3.12, 6.79], \"C_heading\": 106.14}",
"C": "{\"C_lwh\": [0.78, 0.68, 1.10], \"C_central_point\": [1.36, 3.37, 7.04], \"C_heading\": 106.14}",
"D": "{\"C_lwh\": [0.78, 0.68, 1.10], \"C_central_point\": [1.30, 3.19, 6.98], \"C_heading\": 106.14}",
"E": "{\"C_lwh\": [0.78, 0.68, 1.10], \"C_central_point\": [1.05, 3.00, 6.67], \"C_heading\": 106.14}"
}
|
A
|
{"C_lwh": [0.78, 0.68, 1.1], "C_central_point": [-1.05, -3.06, 6.73], "C_heading": 106.14}
| 1 |
indoor
|
scene0107_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 78.8 |
{
"A": "38°",
"B": "26°",
"C": "32°",
"D": "15°",
"E": "22°"
}
|
B
|
-25.90°
| 2 |
indoor
|
|
scene0107_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval if the object being tracked moves at a negligible speed? (unit: m, m/s, m/s², °)
| 45.8 | 48.2 |
{
"A": "0.01m/s",
"B": "0.04m/s",
"C": "0.08m/s",
"D": "0.12m/s",
"E": "0.14m/s"
}
|
C
|
0.08m/s
| 3 |
indoor
|
|
scene0107_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames capturing an object moving with a known ground truth displacement of 0.55 m? (unit: m, m/s, m/s², °)
| 0 | 78.8 |
{
"A": "0.46 m",
"B": "0.36 m",
"C": "0.55 m",
"D": "0.93 m",
"E": "0.64 m"
}
|
C
|
0.55m
| 4 |
indoor
|
|
scene0108_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the red chair in front of a wooden shelf with boxes from a single randomly selected frame? Please include the object's C_lwh (length, width, height), C_central_point (x, y, z), and C_heading (heading angle). (unit: m, m/s, m/s², °)
|
Object description: Red chair in front of a wooden shelf with boxes.
| 6.6 | 6.6 |
{
"A": "{\"C_lwh\": [0.53, 1.92, 1.50], \"C_central_point\": [0.56, 0.70, 0.47], \"C_heading\": 34.51}",
"B": "{\"C_lwh\": [0.56, 1.95, 1.53], \"C_central_point\": [0.59, 0.73, 0.50], \"C_heading\": 34.66}",
"C": "{\"C_lwh\": [0.66, 2.05, 1.63], \"C_central_point\": [0.68, 0.83, 0.60], \"C_heading\": 35.13}",
"D": "{\"C_lwh\": [0.47, 1.86, 1.44], \"C_central_point\": [0.51, 0.64, 0.41], \"C_heading\": 34.82}",
"E": "{\"C_lwh\": [0.63, 2.02, 1.60], \"C_central_point\": [0.65, 0.80, 0.57], \"C_heading\": 34.98}"
}
|
D
|
{"C_lwh": [0.47, 1.86, 1.44], "C_central_point": [-0.51, 0.64, 0.41], "C_heading": 34.82}
| 0 |
indoor
|
scene0108_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the distance between the camera and the red chair in front of a wooden shelf with boxes at the given frame? (unit: m, m/s, m/s², °)
|
Object: Red chair in front of a wooden shelf with boxes.
| 2.5 | 2.5 |
{
"A": "0.83m",
"B": "0.77m",
"C": "0.92m",
"D": "0.75m",
"E": "0.89m"
}
|
A
|
0.83m
| 1 |
indoor
|
scene0108_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the most likely minimum relative distance between the red chair in front of a wooden shelf with boxes and the red cushioned chair with black armrests in a room? (unit: m, m/s, m/s², °)
|
Objects: Red chair in front of a wooden shelf with boxes. and Red cushioned chair with black armrests in a room.
| 2.5 | 2.5 |
{
"A": "0.95 m",
"B": "0.82 m",
"C": "0.56 m",
"D": "0.74 m",
"E": "0.61 m"
}
|
D
|
0.74m
| 2 |
indoor
|
scene0108_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 5.4 | 6.5 |
{
"A": "0.31m/s",
"B": "0.48m/s",
"C": "0.67m/s",
"D": "0.12m/s",
"E": "0.03m/s"
}
|
A
|
0.31m/s
| 3 |
indoor
|
|
scene0108_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 2.7, "ty": 2.44, "tz": 1.44, "r11": -1.0, "r12": -0.03, "r13": 0.05, "r21": -0.06, "r22": 0.48, "r23": -0.88, "r31": 0.0, "r32": -0.88, "r33": -0.48}, estimate and select the most likely camera pose in 3D space for the specific frame, using only the RGB video. (unit: m, m/s, m/s², °)
| 6 | 6 |
{
"A": "{\"tx\": 12.14, \"ty\": 11.98, \"tz\": 11.48, \"r11\": 0.3, \"r12\": 0.35, \"r13\": -0.89, \"r21\": 0.95, \"r22\": -0.16, \"r23\": 0.26, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.38}",
"B": "{\"tx\": 2.14, \"ty\": 1.98, \"tz\": 1.48, \"r11\": 0.3, \"r12\": 0.35, \"r13\": -0.89, \"r21\": 0.95, \"r22\": -0.16, \"r23\": 0.26, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.38}",
"C": "{\"tx\": 3.14, \"ty\": 2.98, \"tz\": 2.48, \"r11\": 0.3, \"r12\": 0.35, \"r13\": -0.89, \"r21\": 0.95, \"r22\": -0.16, \"r23\": 0.26, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.38}",
"D": "{\"tx\": 22.14, \"ty\": 21.98, \"tz\": 21.48, \"r11\": 0.3, \"r12\": 0.35, \"r13\": -0.89, \"r21\": 0.95, \"r22\": -0.16, \"r23\": 0.26, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.38}",
"E": "{\"tx\": 4.14, \"ty\": 3.98, \"tz\": 3.48, \"r11\": 0.3, \"r12\": 0.35, \"r13\": -0.89, \"r21\": 0.95, \"r22\": -0.16, \"r23\": 0.26, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.38}"
}
|
B
|
{"tx": 2.14, "ty": 1.98, "tz": 1.48, "r11": 0.3, "r12": 0.35, "r13": -0.89, "r21": 0.95, "r22": -0.16, "r23": 0.26, "r31": -0.05, "r32": -0.92, "r33": -0.38}
| 4 |
indoor
|
|
scene0108_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 2.7, "ty": 2.44, "tz": 1.44, "r11": -1.0, "r12": -0.03, "r13": 0.05, "r21": -0.06, "r22": 0.48, "r23": -0.88, "r31": 0.0, "r32": -0.88, "r33": -0.48}, estimate and select the most likely camera pose in 3D space using only the RGB video for a specific frame. The ground truth pose is: {"tx": 2.84, "ty": 4.12, "tz": 1.41, "r11": -0.56, "r12": -0.42, "r13": 0.72, "r21": -0.83, "r22": 0.35, "r23": -0.44, "r31": -0.06, "r32": -0.84, "r33": -0.54} (unit: m, m/s, m/s², °)
| 14 | 14 |
{
"A": "{\"tx\": 2.84, \"ty\": 4.12, \"tz\": 1.41, \"r11\": -0.56, \"r12\": -0.42, \"r13\": 0.72, \"r21\": -0.83, \"r22\": 0.35, \"r23\": -0.44, \"r31\": -0.06, \"r32\": -0.84, \"r33\": -0.54}",
"B": "{\"tx\": 4.84, \"ty\": 6.12, \"tz\": 3.41, \"r11\": -0.56, \"r12\": -0.42, \"r13\": 0.72, \"r21\": -0.83, \"r22\": 0.35, \"r23\": -0.44, \"r31\": -0.06, \"r32\": -0.84, \"r33\": -0.54}",
"C": "{\"tx\": 6.84, \"ty\": 8.12, \"tz\": 5.41, \"r11\": -0.56, \"r12\": -0.42, \"r13\": 0.72, \"r21\": -0.83, \"r22\": 0.35, \"r23\": -0.44, \"r31\": -0.06, \"r32\": -0.84, \"r33\": -0.54}",
"D": "{\"tx\": 8.84, \"ty\": 10.12, \"tz\": 7.41, \"r11\": -0.56, \"r12\": -0.42, \"r13\": 0.72, \"r21\": -0.83, \"r22\": 0.35, \"r23\": -0.44, \"r31\": -0.06, \"r32\": -0.84, \"r33\": -0.54}",
"E": "{\"tx\": 12.84, \"ty\": 14.12, \"tz\": 11.41, \"r11\": -0.56, \"r12\": -0.42, \"r13\": 0.72, \"r21\": -0.83, \"r22\": 0.35, \"r23\": -0.44, \"r31\": -0.06, \"r32\": -0.84, \"r33\": -0.54}"
}
|
A
|
{"tx": 2.84, "ty": 4.12, "tz": 1.41, "r11": -0.56, "r12": -0.42, "r13": 0.72, "r21": -0.83, "r22": 0.35, "r23": -0.44, "r31": -0.06, "r32": -0.84, "r33": -0.54}
| 5 |
indoor
|
|
scene0108_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 18.7 |
{
"A": "88°",
"B": "93°",
"C": "77°",
"D": "79°",
"E": "84°"
}
|
E
|
-83.54°
| 6 |
indoor
|
|
scene0109_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames? (unit: m, m/s, m/s², °)
| 0 | 44.4 |
{
"A": "13.00m",
"B": "12.86m",
"C": "13.13m",
"D": "13.06m",
"E": "12.94m"
}
|
A
|
13.00m
| 0 |
indoor
|
|
scene0109_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
Given the movement described between the two frames, what is the most likely displacement (straight-line distance) of the camera? Choose the correct option in meters (m). (unit: m, m/s, m/s², °)
| 0 | 44.4 |
{
"A": "0.75m",
"B": "1.21m",
"C": "1.42m",
"D": "1.01m",
"E": "0.91m"
}
|
D
|
1.01m
| 1 |
indoor
|
|
scene0109_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 2.85, "ty": 1.53, "tz": 1.43, "r11": -0.72, "r12": -0.16, "r13": 0.68, "r21": -0.69, "r22": 0.2, "r23": -0.69, "r31": -0.02, "r32": -0.97, "r33": -0.25}, estimate and select the most likely camera pose in 3D space for the specific frame based on the RGB video stream. (unit: m, m/s, m/s², °)
| 6 | 6 |
{
"A": "{\"tx\": 4.34, \"ty\": 1.79, \"tz\": 1.39, \"r11\": 0.23, \"r12\": -0.38, \"r13\": 0.9, \"r21\": -0.97, \"r22\": -0.11, \"r23\": 0.2, \"r31\": 0.02, \"r32\": -0.92, \"r33\": -0.39}",
"B": "{\"tx\": 14.34, \"ty\": 1.79, \"tz\": 1.39, \"r11\": 0.23, \"r12\": -0.38, \"r13\": 0.9, \"r21\": -0.97, \"r22\": -0.11, \"r23\": 0.2, \"r31\": 0.02, \"r32\": -0.92, \"r33\": -0.39}",
"C": "{\"tx\": 7.34, \"ty\": 1.79, \"tz\": 1.39, \"r11\": 0.23, \"r12\": -0.38, \"r13\": 0.9, \"r21\": -0.97, \"r22\": -0.11, \"r23\": 0.2, \"r31\": 0.02, \"r32\": -0.92, \"r33\": -0.39}",
"D": "{\"tx\": 6.34, \"ty\": 1.79, \"tz\": 1.39, \"r11\": 0.23, \"r12\": -0.38, \"r13\": 0.9, \"r21\": -0.97, \"r22\": -0.11, \"r23\": 0.2, \"r31\": 0.02, \"r32\": -0.92, \"r33\": -0.39}",
"E": "{\"tx\": 2.34, \"ty\": 1.79, \"tz\": 1.39, \"r11\": 0.23, \"r12\": -0.38, \"r13\": 0.9, \"r21\": -0.97, \"r22\": -0.11, \"r23\": 0.2, \"r31\": 0.02, \"r32\": -0.92, \"r33\": -0.39}"
}
|
A
|
{"tx": 4.34, "ty": 1.79, "tz": 1.39, "r11": 0.23, "r12": -0.38, "r13": 0.9, "r21": -0.97, "r22": -0.11, "r23": 0.2, "r31": 0.02, "r32": -0.92, "r33": -0.39}
| 2 |
indoor
|
|
scene0109_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the black trash bins with lids beside a white bucket with green in a single randomly selected frame? Please include all of the following information: C_lwh (length, width, height), C_central_point (x, y, z), and C_heading (heading angle) (unit: m, m/s, m/s², °)
|
Object description: Black trash bins with lids beside a white bucket with green.
| 43 | 43 |
{
"A": "{\"C_lwh\": [0.79, 0.69, 1.16], \"C_central_point\": [0.58, 0.44, 3.60], \"C_heading\": 47.50}",
"B": "{\"C_lwh\": [0.66, 0.56, 1.03], \"C_central_point\": [0.46, 0.33, 3.47], \"C_heading\": 47.34}",
"C": "{\"C_lwh\": [0.69, 0.59, 1.06], \"C_central_point\": [0.49, 0.35, 3.50], \"C_heading\": 47.45}",
"D": "{\"C_lwh\": [0.74, 0.64, 1.11], \"C_central_point\": [0.54, 0.40, 3.55], \"C_heading\": 47.37}",
"E": "{\"C_lwh\": [0.71, 0.61, 1.08], \"C_central_point\": [0.51, 0.37, 3.52], \"C_heading\": 47.40}"
}
|
B
|
{"C_lwh": [0.66, 0.56, 1.03], "C_central_point": [0.46, -0.33, 3.47], "C_heading": 47.34}
| 3 |
indoor
|
scene0109_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates of the green paper cutter on a black countertop in a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: Green paper cutter on a black countertop.
| 19.1 | 19.1 |
{
"A": "C_lwh: [0.70, 0.56, 0.16], C_central_point: [4.39, 0.08, 0.87], C_heading: 179.84",
"B": "C_lwh: [0.73, 0.58, 0.13], C_central_point: [4.42, 0.10, 0.90], C_heading: 179.53",
"C": "C_lwh: [0.69, 0.57, 0.14], C_central_point: [4.38, 0.09, 0.86], C_heading: 179.68",
"D": "C_lwh: [0.67, 0.55, 0.12], C_central_point: [4.36, 0.07, 0.84], C_heading: 179.76",
"E": "C_lwh: [0.72, 0.57, 0.14], C_central_point: [4.41, 0.09, 0.89], C_heading: 179.60"
}
|
D
|
{"C_lwh": [0.67, 0.55, 0.12], "C_central_point": [4.36, 0.07, 0.84], "C_heading": -179.76}
| 4 |
indoor
|
scene0109_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 33 | 36.1 |
{
"A": "0.40m/s",
"B": "0.30m/s",
"C": "0.48m/s",
"D": "0.20m/s",
"E": "0.25m/s"
}
|
B
|
0.30m/s
| 5 |
indoor
|
|
scene0110_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate height of the white trash bin with liner next to the blue recycling bin? (unit: m, m/s, m/s², °)
|
Object description: White trash bin with liner next to blue recycling bin.
| 9.2 | 38 |
{
"A": "0.48m",
"B": "0.50m",
"C": "0.27m",
"D": "0.40m",
"E": "0.35m"
}
|
D
|
0.30m, 0.38m, 0.40m
| 0 |
indoor
|
scene0110_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the wooden bed with blue mattress and matching drawers underneath in the given frame? (unit: m, m/s, m/s², °)
|
Object description: Wooden bed with blue mattress and matching drawers underneath.
| 6.8 | 6.8 |
{
"A": "{\"C_lwh\": [1.09, 2.23, 1.11], \"C_central_point\": [2.90, 1.87, 2.24], \"C_heading\": 79.57}",
"B": "{\"C_lwh\": [1.09, 2.23, 1.11], \"C_central_point\": [2.83, 1.80, 2.17], \"C_heading\": 79.57}",
"C": "{\"C_lwh\": [1.09, 2.23, 1.11], \"C_central_point\": [2.75, 1.72, 2.09], \"C_heading\": 79.57}",
"D": "{\"C_lwh\": [1.09, 2.23, 1.11], \"C_central_point\": [2.67, 1.64, 2.01], \"C_heading\": 79.57}",
"E": "{\"C_lwh\": [1.09, 2.23, 1.11], \"C_central_point\": [2.98, 1.95, 2.32], \"C_heading\": 79.57}"
}
|
D
|
{"C_lwh": [1.09, 2.23, 1.11], "C_central_point": [2.67, 1.64, -2.01], "C_heading": -79.57}
| 1 |
indoor
|
scene0110_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 38.5 |
{
"A": "33°",
"B": "39°",
"C": "48°",
"D": "35°",
"E": "44°"
}
|
E
|
-43.98°
| 2 |
indoor
|
|
scene0110_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames? (unit: m, m/s, m/s², °)
| 0 | 38.5 |
{
"A": "11.56m",
"B": "11.80m",
"C": "11.62m",
"D": "11.86m",
"E": "11.72m"
}
|
D
|
11.86m
| 3 |
indoor
|
|
scene0110_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 38.5 |
{
"A": "0.37m",
"B": "0.47m",
"C": "0.21m",
"D": "0.26m",
"E": "0.10m"
}
|
D
|
0.26m
| 4 |
indoor
|
|
scene0110_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 3.91, "ty": 2.9, "tz": 1.54, "r11": 0.98, "r12": -0.08, "r13": 0.18, "r21": -0.19, "r22": -0.31, "r23": 0.93, "r31": -0.02, "r32": -0.95, "r33": -0.32}, estimate and select the most likely camera pose in 3D space for the specific frame that matches the ground truth. (unit: m, m/s, m/s², °)
| 24 | 24 |
{
"A": "{\"tx\": 5.25, \"ty\": 4.03, \"tz\": 3.48, \"r11\": 0.93, \"r12\": 0.08, \"r13\": -0.35, \"r21\": 0.35, \"r22\": -0.31, \"r23\": 0.88, \"r31\": -0.04, \"r32\": -0.95, \"r33\": -0.32}",
"B": "{\"tx\": 1.25, \"ty\": 2.03, \"tz\": 1.48, \"r11\": 0.93, \"r12\": 0.08, \"r13\": -0.35, \"r21\": 0.35, \"r22\": -0.31, \"r23\": 0.88, \"r31\": -0.04, \"r32\": -0.95, \"r33\": -0.32}",
"C": "{\"tx\": 6.25, \"ty\": 7.03, \"tz\": 5.48, \"r11\": 0.93, \"r12\": 0.08, \"r13\": -0.35, \"r21\": 0.35, \"r22\": -0.31, \"r23\": 0.88, \"r31\": -0.04, \"r32\": -0.95, \"r33\": -0.32}",
"D": "{\"tx\": 0.25, \"ty\": 0.03, \"tz\": -0.52, \"r11\": 0.93, \"r12\": 0.08, \"r13\": -0.35, \"r21\": 0.35, \"r22\": -0.31, \"r23\": 0.88, \"r31\": -0.04, \"r32\": -0.95, \"r33\": -0.32}",
"E": "{\"tx\": 3.25, \"ty\": 2.03, \"tz\": 1.48, \"r11\": 0.93, \"r12\": 0.08, \"r13\": -0.35, \"r21\": 0.35, \"r22\": -0.31, \"r23\": 0.88, \"r31\": -0.04, \"r32\": -0.95, \"r33\": -0.32}"
}
|
E
|
{"tx": 3.25, "ty": 2.03, "tz": 1.48, "r11": 0.93, "r12": 0.08, "r13": -0.35, "r21": 0.35, "r22": -0.31, "r23": 0.88, "r31": -0.04, "r32": -0.95, "r33": -0.32}
| 5 |
indoor
|
|
scene0110_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 3.91, "ty": 2.9, "tz": 1.54, "r11": 0.98, "r12": -0.08, "r13": 0.18, "r21": -0.19, "r22": -0.31, "r23": 0.93, "r31": -0.02, "r32": -0.95, "r33": -0.32}, estimate and select the most likely camera pose at the specific frame using only the RGB video. (unit: m, m/s, m/s², °)
| 9 | 9 |
{
"A": "{\"tx\": 6.03, \"ty\": 7.68, \"tz\": 3.43, \"r11\": -0.52, \"r12\": -0.42, \"r13\": 0.74, \"r21\": -0.85, \"r22\": 0.32, \"r23\": -0.41, \"r31\": -0.07, \"r32\": -0.85, \"r33\": -0.53}",
"B": "{\"tx\": 2.03, \"ty\": -0.32, \"tz\": 8.43, \"r11\": -0.52, \"r12\": -0.42, \"r13\": 0.74, \"r21\": -0.85, \"r22\": 0.32, \"r23\": -0.41, \"r31\": -0.07, \"r32\": -0.85, \"r33\": -0.53}",
"C": "{\"tx\": 4.03, \"ty\": 3.68, \"tz\": 1.43, \"r11\": -0.52, \"r12\": -0.42, \"r13\": 0.74, \"r21\": -0.85, \"r22\": 0.32, \"r23\": -0.41, \"r31\": -0.07, \"r32\": -0.85, \"r33\": -0.53}",
"D": "{\"tx\": 8.03, \"ty\": 5.68, \"tz\": 9.43, \"r11\": -0.52, \"r12\": -0.42, \"r13\": 0.74, \"r21\": -0.85, \"r22\": 0.32, \"r23\": -0.41, \"r31\": -0.07, \"r32\": -0.85, \"r33\": -0.53}",
"E": "{\"tx\": 12.03, \"ty\": 11.68, \"tz\": 3.43, \"r11\": -0.52, \"r12\": -0.42, \"r13\": 0.74, \"r21\": -0.85, \"r22\": 0.32, \"r23\": -0.41, \"r31\": -0.07, \"r32\": -0.85, \"r33\": -0.53}"
}
|
C
|
{"tx": 4.03, "ty": 3.68, "tz": 1.43, "r11": -0.52, "r12": -0.42, "r13": 0.74, "r21": -0.85, "r22": 0.32, "r23": -0.41, "r31": -0.07, "r32": -0.85, "r33": -0.53}
| 6 |
indoor
|
|
scene0110_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 0.6 | 5.2 |
{
"A": "0.23 m/s",
"B": "0.18 m/s",
"C": "0.10 m/s",
"D": "0.05 m/s",
"E": "0.15 m/s"
}
|
C
|
0.10m/s
| 7 |
indoor
|
|
scene0111_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the distance between the camera and the plastic water bottle on the cluttered black table at the given frame? (unit: m, m/s, m/s², °)
|
Object: Plastic water bottle on a cluttered black table.
| 16.2 | 16.2 |
{
"A": "4.22m",
"B": "4.17m",
"C": "4.34m",
"D": "4.49m",
"E": "4.65m"
}
|
C
|
4.34m
| 0 |
indoor
|
scene0111_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the plastic bag with a yellow-lidded jar inside on dark floor from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: Plastic bag with yellow-lidded jar inside on dark floor.
| 76.4 | 76.4 |
{
"A": "{\"C_lwh\": [0.36, 0.36, 0.29], \"C_central_point\": [2.42, 1.53, 0.28], \"C_heading\": 2.00}",
"B": "{\"C_lwh\": [0.36, 0.36, 0.29], \"C_central_point\": [2.42, 1.53, 0.44], \"C_heading\": 2.00}",
"C": "{\"C_lwh\": [0.36, 0.36, 0.29], \"C_central_point\": [2.42, 1.53, 0.43], \"C_heading\": 2.00}",
"D": "{\"C_lwh\": [0.36, 0.36, 0.29], \"C_central_point\": [2.50, 1.64, 0.28], \"C_heading\": 2.00}",
"E": "{\"C_lwh\": [0.36, 0.36, 0.29], \"C_central_point\": [2.47, 1.53, 0.28], \"C_heading\": 2.00}"
}
|
A
|
{"C_lwh": [0.36, 0.36, 0.29], "C_central_point": [-2.42, 1.53, 0.28], "C_heading": 2.0}
| 1 |
indoor
|
scene0111_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 84.6 |
{
"A": "7°",
"B": "11°",
"C": "0°",
"D": "4°",
"E": "15°"
}
|
C
|
1.07°
| 2 |
indoor
|
|
scene0111_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 10.3 | 11.6 |
{
"A": "0.03 m/s",
"B": "0.10 m/s",
"C": "0.15 m/s",
"D": "0.26 m/s",
"E": "0.27 m/s"
}
|
C
|
0.15m/s
| 3 |
indoor
|
|
scene0111_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 84.6 |
{
"A": "1.55m",
"B": "1.00m",
"C": "1.26m",
"D": "0.82m",
"E": "1.74m"
}
|
C
|
1.26m
| 4 |
indoor
|
|
scene0111_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 3.11, "ty": 2.77, "tz": 1.63, "r11": 0.39, "r12": 0.01, "r13": -0.92, "r21": 0.92, "r22": -0.02, "r23": 0.39, "r31": -0.02, "r32": -1.0, "r33": -0.01}, estimate and select the most likely camera pose in 3D space at the specific frame that matches the ground truth. (unit: m, m/s, m/s², °)
| 17 | 17 |
{
"A": "{\"tx\": 0.79, \"ty\": 1.4, \"tz\": -0.49, \"r11\": -0.47, \"r12\": -0.3, \"r13\": 0.83, \"r21\": -0.88, \"r22\": 0.19, \"r23\": -0.43, \"r31\": -0.03, \"r32\": -0.94, \"r33\": -0.35}",
"B": "{\"tx\": 12.79, \"ty\": 13.4, \"tz\": 11.51, \"r11\": -0.97, \"r12\": -0.6, \"r13\": 1.83, \"r21\": -1.88, \"r22\": 0.59, \"r23\": -1.43, \"r31\": -0.13, \"r32\": -1.94, \"r33\": -1.35}",
"C": "{\"tx\": 4.79, \"ty\": 5.4, \"tz\": 3.51, \"r11\": 0.47, \"r12\": 0.3, \"r13\": -0.83, \"r21\": 0.88, \"r22\": -0.19, \"r23\": 0.43, \"r31\": 0.03, \"r32\": 0.94, \"r33\": 0.35}",
"D": "{\"tx\": -7.21, \"ty\": -6.6, \"tz\": -8.49, \"r11\": 0.53, \"r12\": 0.7, \"r13\": -0.17, \"r21\": 0.12, \"r22\": 0.81, \"r23\": 0.57, \"r31\": 0.73, \"r32\": 0.14, \"r33\": 0.65}",
"E": "{\"tx\": 2.79, \"ty\": 3.4, \"tz\": 1.51, \"r11\": -0.47, \"r12\": -0.3, \"r13\": 0.83, \"r21\": -0.88, \"r22\": 0.19, \"r23\": -0.43, \"r31\": -0.03, \"r32\": -0.94, \"r33\": -0.35}"
}
|
E
|
{"tx": 2.79, "ty": 3.4, "tz": 1.51, "r11": -0.47, "r12": -0.3, "r13": 0.83, "r21": -0.88, "r22": 0.19, "r23": -0.43, "r31": -0.03, "r32": -0.94, "r33": -0.35}
| 5 |
indoor
|
|
scene0112_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the distance between the camera and the toilet paper roll in the metal holder on the yellow wall at the given frame? (unit: m, m/s, m/s², °)
|
Object: Toilet paper roll in metal holder on yellow wall.
| 0 | 0 |
{
"A": "2.98m",
"B": "3.29m",
"C": "3.04m",
"D": "3.10m",
"E": "2.72m"
}
|
C
|
3.01m
| 0 |
indoor
|
scene0112_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate height of the toilet paper dispenser on a beige wall? (unit: m, m/s, m/s², °)
|
Object description: Toilet paper dispenser on a beige wall.
| 0 | 29.3 |
{
"A": "0.48m",
"B": "0.55m",
"C": "0.61m",
"D": "0.70m",
"E": "0.52m"
}
|
C
|
0.51m, 0.14m, 0.61m
| 1 |
indoor
|
scene0112_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box of the toilet paper dispenser on a beige wall in camera coordinates from a single randomly selected frame? Please select the most appropriate parameter set. Ensure all the following information: C_lwh (length, width, height), C_central_point (x, y, z), and C_heading (heading angle). (unit: m, m/s, m/s², °)
|
Object description: Toilet paper dispenser on a beige wall.
| 0.9 | 0.9 |
{
"A": "{\"C_lwh\": [0.51, 0.14, 0.61], \"C_central_point\": [0.07, 2.51, 2.42], \"C_heading\": 32.80}",
"B": "{\"C_lwh\": [0.51, 0.14, 0.61], \"C_central_point\": [0.01, 2.45, 2.36], \"C_heading\": 32.82}",
"C": "{\"C_lwh\": [0.51, 0.14, 0.61], \"C_central_point\": [0.03, 2.47, 2.38], \"C_heading\": 32.80}",
"D": "{\"C_lwh\": [0.51, 0.14, 0.61], \"C_central_point\": [0.04, 2.48, 2.39], \"C_heading\": 32.84}",
"E": "{\"C_lwh\": [0.51, 0.14, 0.61], \"C_central_point\": [0.06, 2.50, 2.41], \"C_heading\": 32.86}"
}
|
B
|
{"C_lwh": [0.51, 0.14, 0.61], "C_central_point": [0.01, 2.45, -2.36], "C_heading": -32.82}
| 2 |
indoor
|
scene0112_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
For the object described as a toilet paper roll in a metal holder on a yellow wall, what is the object's 3D bounding box in camera coordinates from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: Toilet paper roll in metal holder on yellow wall.
| 3.8 | 3.8 |
{
"A": "{\"C_lwh\": [1.07, 0.12, 0.16], \"C_central_point\": [3.58, 1.12, 1.83], \"C_heading\": 8.50}",
"B": "{\"C_lwh\": [1.07, 0.12, 0.16], \"C_central_point\": [3.89, 1.12, 1.83], \"C_heading\": 8.50}",
"C": "{\"C_lwh\": [1.38, 0.12, 0.16], \"C_central_point\": [3.58, 1.12, 1.83], \"C_heading\": 8.50}",
"D": "{\"C_lwh\": [1.07, 0.12, 0.16], \"C_central_point\": [3.66, 1.16, 1.86], \"C_heading\": 8.50}",
"E": "{\"C_lwh\": [1.07, 0.12, 0.16], \"C_central_point\": [3.58, 1.12, 2.03], \"C_heading\": 8.50}"
}
|
A
|
{"C_lwh": [1.07, 0.12, 0.16], "C_central_point": [-3.58, 1.12, -1.83], "C_heading": 8.5}
| 3 |
indoor
|
scene0112_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 29.3 |
{
"A": "1.32m",
"B": "0.80m",
"C": "0.46m",
"D": "0.54m",
"E": "1.14m"
}
|
B
|
0.80m
| 4 |
indoor
|
|
scene0112_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What was the average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 17.6 | 22.2 |
{
"A": "0.05m/s",
"B": "0m/s",
"C": "0.14m/s",
"D": "0.1m/s",
"E": "0.08m/s"
}
|
E
|
0.08m/s
| 5 |
indoor
|
|
scene0112_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 29.3 |
{
"A": "11°",
"B": "15°",
"C": "40°",
"D": "27°",
"E": "3°"
}
|
B
|
15.13°
| 6 |
indoor
|
|
scene0113_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the distance between the camera and the patterned chair with circular designs on the dark carpeted floor at the given frame? (unit: m, m/s, m/s², °)
|
Object: Patterned chair with circular designs on dark carpeted floor.
| 10.4 | 10.4 |
{
"A": "2.83m",
"B": "3.01m",
"C": "3.24m",
"D": "3.71m",
"E": "3.53m"
}
|
B
|
3.01m
| 0 |
indoor
|
scene0113_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames? (unit: m, m/s, m/s², °)
| 0 | 24.4 |
{
"A": "11.56m",
"B": "11.62m",
"C": "11.52m",
"D": "11.50m",
"E": "11.72m"
}
|
B
|
11.62m
| 1 |
indoor
|
|
scene0113_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 24.4 |
{
"A": "1.08m",
"B": "2.36m",
"C": "1.72m",
"D": "0.89m",
"E": "1.34m"
}
|
E
|
1.34m
| 2 |
indoor
|
|
scene0113_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the patterned chair with circular designs on a dark carpeted floor in the selected frame? (unit: m, m/s, m/s², °)
|
Object description: Patterned chair with circular designs on dark carpeted floor.
| 18 | 18 |
{
"A": "{\"C_lwh\": [0.81, 0.73, 0.81], \"C_central_point\": [0.06, 2.07, 1.41], \"C_heading\": 34.66}",
"B": "{\"C_lwh\": [0.81, 0.73, 0.81], \"C_central_point\": [0.69, 2.69, 2.04], \"C_heading\": 34.66}",
"C": "{\"C_lwh\": [0.94, 0.79, 0.94], \"C_central_point\": [0.06, 2.07, 1.41], \"C_heading\": 34.66}",
"D": "{\"C_lwh\": [0.81, 0.73, 0.81], \"C_central_point\": [1.31, 3.32, 1.47], \"C_heading\": 34.66}",
"E": "{\"C_lwh\": [0.87, 0.79, 0.87], \"C_central_point\": [0.06, 2.07, 1.41], \"C_heading\": 33.41}"
}
|
A
|
{"C_lwh": [0.81, 0.73, 0.81], "C_central_point": [0.06, 2.07, -1.41], "C_heading": -34.66}
| 3 |
indoor
|
scene0113_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the beige tufted ottoman on a dark carpeted floor from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: Beige tufted ottoman on a dark carpeted floor.
| 4 | 4 |
{
"A": "{\"C_lwh\": [0.98, 1.00, 0.48], \"C_central_point\": [1.18, 1.45, 4.79], \"C_heading\": 157.77}",
"B": "{\"C_lwh\": [0.98, 1.00, 0.48], \"C_central_point\": [1.24, 1.51, 4.85], \"C_heading\": 157.77}",
"C": "{\"C_lwh\": [0.98, 1.00, 0.48], \"C_central_point\": [1.17, 1.42, 4.73], \"C_heading\": 157.77}",
"D": "{\"C_lwh\": [0.98, 1.00, 0.48], \"C_central_point\": [1.27, 1.54, 4.88], \"C_heading\": 157.77}",
"E": "{\"C_lwh\": [0.98, 1.00, 0.48], \"C_central_point\": [1.21, 1.48, 4.82], \"C_heading\": 157.77}"
}
|
A
|
{"C_lwh": [0.98, 1.0, 0.48], "C_central_point": [-1.18, -1.45, 4.79], "C_heading": 157.77}
| 4 |
indoor
|
scene0113_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 6.6 | 10.3 |
{
"A": "0.20m/s",
"B": "0.14m/s",
"C": "0.09m/s",
"D": "0.02m/s",
"E": "0.25m/s"
}
|
B
|
0.14m/s
| 5 |
indoor
|
|
scene0114_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 16.7 | 19.4 |
{
"A": "0.15 m/s",
"B": "0.26 m/s",
"C": "0.10 m/s",
"D": "0.04 m/s",
"E": "0.35 m/s"
}
|
C
|
0.10m/s
| 0 |
indoor
|
|
scene0114_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 63.5 |
{
"A": "1.71m",
"B": "1.45m",
"C": "1.97m",
"D": "2.49m",
"E": "2.23m"
}
|
C
|
1.97m
| 1 |
indoor
|
|
scene0114_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames? (unit: m, m/s, m/s², °)
| 0 | 63.5 |
{
"A": "17.10m",
"B": "17.16m",
"C": "16.86m",
"D": "17.35m",
"E": "17.22m"
}
|
B
|
17.16m
| 2 |
indoor
|
|
scene0114_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 2.19, "ty": 3.85, "tz": 1.49, "r11": -0.4, "r12": -0.46, "r13": 0.79, "r21": -0.91, "r22": 0.2, "r23": -0.35, "r31": 0.01, "r32": -0.87, "r33": -0.5}, estimate and select the most likely camera pose in 3D space in the specific frame matching the ground truth. (unit: m, m/s, m/s², °)
| 14 | 14 |
{
"A": "{\"tx\": 5.73, \"ty\": 6.16, \"tz\": 3.56, \"r11\": -1.0, \"r12\": 0.01, \"r13\": 0.02, \"r21\": -0.01, \"r22\": 0.4, \"r23\": -0.92, \"r31\": -0.01, \"r32\": -0.92, \"r33\": -0.4}",
"B": "{\"tx\": 8.73, \"ty\": 9.16, \"tz\": 4.56, \"r11\": -1.0, \"r12\": 0.01, \"r13\": 0.02, \"r21\": -0.01, \"r22\": 0.4, \"r23\": -0.92, \"r31\": -0.01, \"r32\": -0.92, \"r33\": -0.4}",
"C": "{\"tx\": 0.73, \"ty\": 1.16, \"tz\": 0.06, \"r11\": -1.0, \"r12\": 0.01, \"r13\": 0.02, \"r21\": -0.01, \"r22\": 0.4, \"r23\": -0.92, \"r31\": -0.01, \"r32\": -0.92, \"r33\": -0.4}",
"D": "{\"tx\": 3.73, \"ty\": 4.16, \"tz\": 1.56, \"r11\": -1.0, \"r12\": 0.01, \"r13\": 0.02, \"r21\": -0.01, \"r22\": 0.4, \"r23\": -0.92, \"r31\": -0.01, \"r32\": -0.92, \"r33\": -0.4}",
"E": "{\"tx\": 1.73, \"ty\": 2.16, \"tz\": 0.56, \"r11\": -1.0, \"r12\": 0.01, \"r13\": 0.02, \"r21\": -0.01, \"r22\": 0.4, \"r23\": -0.92, \"r31\": -0.01, \"r32\": -0.92, \"r33\": -0.4}"
}
|
D
|
{"tx": 3.73, "ty": 4.16, "tz": 1.56, "r11": -1.0, "r12": 0.01, "r13": 0.02, "r21": -0.01, "r22": 0.4, "r23": -0.92, "r31": -0.01, "r32": -0.92, "r33": -0.4}
| 3 |
indoor
|
|
scene0114_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 2.19, "ty": 3.85, "tz": 1.49, "r11": -0.4, "r12": -0.46, "r13": 0.79, "r21": -0.91, "r22": 0.2, "r23": -0.35, "r31": 0.01, "r32": -0.87, "r33": -0.5}, estimate and select the most likely camera pose in 3D space that matches the ground truth using only the RGB video. (unit: m, m/s, m/s², °)
| 34 | 34 |
{
"A": "{\"tx\": 3.82, \"ty\": 2.55, \"tz\": 1.41, \"r11\": 0.18, \"r12\": -0.62, \"r13\": 0.76, \"r21\": -0.98, \"r22\": -0.09, \"r23\": 0.16, \"r31\": -0.03, \"r32\": -0.78, \"r33\": -0.62}",
"B": "{\"tx\": 1.82, \"ty\": 4.55, \"tz\": 1.41, \"r11\": 0.18, \"r12\": -0.62, \"r13\": 0.76, \"r21\": -0.98, \"r22\": -0.09, \"r23\": 0.16, \"r31\": -0.03, \"r32\": -0.78, \"r33\": -0.62}",
"C": "{\"tx\": 5.82, \"ty\": 2.55, \"tz\": 1.41, \"r11\": 0.18, \"r12\": -0.62, \"r13\": 0.76, \"r21\": -0.98, \"r22\": -0.09, \"r23\": 0.16, \"r31\": -0.03, \"r32\": -0.78, \"r33\": -0.62}",
"D": "{\"tx\": 5.82, \"ty\": 2.55, \"tz\": 2.41, \"r11\": 0.18, \"r12\": -0.62, \"r13\": 0.76, \"r21\": -0.98, \"r22\": -0.09, \"r23\": 0.16, \"r31\": -0.03, \"r32\": -0.78, \"r33\": -0.62}",
"E": "{\"tx\": 5.82, \"ty\": 4.55, \"tz\": 3.41, \"r11\": 0.18, \"r12\": -0.62, \"r13\": 0.76, \"r21\": -0.98, \"r22\": -0.09, \"r23\": 0.16, \"r31\": -0.03, \"r32\": -0.78, \"r33\": -0.62}"
}
|
A
|
{"tx": 3.82, "ty": 2.55, "tz": 1.41, "r11": 0.18, "r12": -0.62, "r13": 0.76, "r21": -0.98, "r22": -0.09, "r23": 0.16, "r31": -0.03, "r32": -0.78, "r33": -0.62}
| 4 |
indoor
|
|
scene0114_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 63.5 |
{
"A": "33°",
"B": "18°",
"C": "8°",
"D": "13°",
"E": "26°"
}
|
B
|
17.58°
| 5 |
indoor
|
|
scene0115_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 0.06, "ty": 3.79, "tz": 1.57, "r11": -0.48, "r12": -0.32, "r13": 0.82, "r21": -0.88, "r22": 0.15, "r23": -0.46, "r31": 0.02, "r32": -0.94, "r33": -0.35}, estimate and select the most likely camera pose in 3D space for the specific frame using only the RGB video. (unit: m, m/s, m/s², °)
| 20 | 20 |
{
"A": "{\"tx\": 12.57, \"ty\": 3.74, \"tz\": 1.65, \"r11\": -0.95, \"r12\": 0.08, \"r13\": -0.29, \"r21\": 0.3, \"r22\": 0.25, \"r23\": -0.92, \"r31\": -0.0, \"r32\": -0.96, \"r33\": -0.26}",
"B": "{\"tx\": 4.57, \"ty\": 3.74, \"tz\": 1.65, \"r11\": -0.95, \"r12\": 0.08, \"r13\": -0.29, \"r21\": 0.3, \"r22\": 0.25, \"r23\": -0.92, \"r31\": -0.0, \"r32\": -0.96, \"r33\": -0.26}",
"C": "{\"tx\": 6.57, \"ty\": 3.74, \"tz\": 1.65, \"r11\": -0.95, \"r12\": 0.08, \"r13\": -0.29, \"r21\": 0.3, \"r22\": 0.25, \"r23\": -0.92, \"r31\": -0.0, \"r32\": -0.96, \"r33\": -0.26}",
"D": "{\"tx\": 2.57, \"ty\": 3.74, \"tz\": 1.65, \"r11\": -0.95, \"r12\": 0.08, \"r13\": -0.29, \"r21\": 0.3, \"r22\": 0.25, \"r23\": -0.92, \"r31\": -0.0, \"r32\": -0.96, \"r33\": -0.26}",
"E": "{\"tx\": 8.57, \"ty\": 3.74, \"tz\": 1.65, \"r11\": -0.95, \"r12\": 0.08, \"r13\": -0.29, \"r21\": 0.3, \"r22\": 0.25, \"r23\": -0.92, \"r31\": -0.0, \"r32\": -0.96, \"r33\": -0.26}"
}
|
B
|
{"tx": 4.57, "ty": 3.74, "tz": 1.65, "r11": -0.95, "r12": 0.08, "r13": -0.29, "r21": 0.3, "r22": 0.25, "r23": -0.92, "r31": -0.0, "r32": -0.96, "r33": -0.26}
| 0 |
indoor
|
|
scene0115_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 0.06, "ty": 3.79, "tz": 1.57, "r11": -0.48, "r12": -0.32, "r13": 0.82, "r21": -0.88, "r22": 0.15, "r23": -0.46, "r31": 0.02, "r32": -0.94, "r33": -0.35}, estimate and select the most likely camera pose for the specific frame in the RGB video that matches the ground truth. (unit: m, m/s, m/s², °)
| 27 | 27 |
{
"A": "{\"tx\": 1.3, \"ty\": 4.39, \"tz\": 1.62, \"r11\": -0.59, \"r12\": -0.29, \"r13\": 0.76, \"r21\": -0.81, \"r22\": 0.27, \"r23\": -0.52, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.39}",
"B": "{\"tx\": 1.3, \"ty\": 7.39, \"tz\": 1.62, \"r11\": -0.59, \"r12\": -0.29, \"r13\": 0.76, \"r21\": -0.81, \"r22\": 0.27, \"r23\": -0.52, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.39}",
"C": "{\"tx\": 1.3, \"ty\": 3.39, \"tz\": 1.62, \"r11\": -0.59, \"r12\": -0.29, \"r13\": 0.76, \"r21\": -0.81, \"r22\": 0.27, \"r23\": -0.52, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.39}",
"D": "{\"tx\": 1.3, \"ty\": 5.39, \"tz\": 1.62, \"r11\": -0.59, \"r12\": -0.29, \"r13\": 0.76, \"r21\": -0.81, \"r22\": 0.27, \"r23\": -0.52, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.39}",
"E": "{\"tx\": 1.3, \"ty\": 8.39, \"tz\": 1.62, \"r11\": -0.59, \"r12\": -0.29, \"r13\": 0.76, \"r21\": -0.81, \"r22\": 0.27, \"r23\": -0.52, \"r31\": -0.05, \"r32\": -0.92, \"r33\": -0.39}"
}
|
D
|
{"tx": 1.3, "ty": 5.39, "tz": 1.62, "r11": -0.59, "r12": -0.29, "r13": 0.76, "r21": -0.81, "r22": 0.27, "r23": -0.52, "r31": -0.05, "r32": -0.92, "r33": -0.39}
| 1 |
indoor
|
|
scene0115_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 35.4 |
{
"A": "1.82m",
"B": "1.30m",
"C": "2.47m",
"D": "1.56m",
"E": "2.21m"
}
|
A
|
1.82m
| 2 |
indoor
|
|
scene0115_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the green pool table with a wooden frame on a dark carpeted floor in a single randomly selected frame? Consider the set of parameters including C_lwh (length, width, height), C_central_point (x, y, z), and C_heading (heading angle). (unit: m, m/s, m/s², °)
|
Object description: Green pool table with wooden frame on dark carpeted floor.
| 24.4 | 24.4 |
{
"A": "{\"C_lwh\": [1.93, 2.71, 0.79], \"C_central_point\": [2.02, 1.94, 6.90], \"C_heading\": 175.01}",
"B": "{\"C_lwh\": [1.68, 2.46, 0.79], \"C_central_point\": [1.77, 1.44, 4.40], \"C_heading\": 175.01}",
"C": "{\"C_lwh\": [2.43, 3.21, 1.29], \"C_central_point\": [1.77, 1.44, 4.40], \"C_heading\": 175.01}",
"D": "{\"C_lwh\": [1.93, 2.71, 0.79], \"C_central_point\": [1.77, 1.44, 4.40], \"C_heading\": 175.01}",
"E": "{\"C_lwh\": [1.93, 2.71, 0.79], \"C_central_point\": [2.27, 1.22, 6.90], \"C_heading\": 175.01}"
}
|
D
|
{"C_lwh": [1.93, 2.71, 0.79], "C_central_point": [1.77, -1.44, 4.4], "C_heading": 175.01}
| 3 |
indoor
|
scene0115_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 27.7 | 30 |
{
"A": "0.52m/s",
"B": "0.69m/s",
"C": "0.74m/s",
"D": "0.60m/s",
"E": "0.94m/s"
}
|
C
|
0.74m/s
| 4 |
indoor
|
|
scene0115_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 35.4 |
{
"A": "-24.18°",
"B": "-9.18°",
"C": "5.82°",
"D": "10.82°",
"E": "15.82°"
}
|
B
|
-9.18°
| 5 |
indoor
|
|
scene0116_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate height of a white toilet in a tan-tiled bathroom corner? (unit: m, m/s, m/s², °)
|
Object description: white toilet in a tan-tiled bathroom corner
| 0 | 58.7 |
{
"A": "0.61m",
"B": "0.45m",
"C": "0.80m",
"D": "0.90m",
"E": "0.70m"
}
|
C
|
0.49m, 0.75m, 0.80m
| 0 |
indoor
|
scene0116_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the white toilet in a tan-tiled bathroom corner from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: white toilet in a tan-tiled bathroom corner
| 56.6 | 56.6 |
{
"A": "C_lwh: [0.55, 0.81, 0.86], C_central_point: [0.22, 1.46, 0.57], C_heading: 20.48",
"B": "C_lwh: [0.49, 0.75, 0.80], C_central_point: [0.11, 1.40, 0.51], C_heading: 19.86",
"C": "C_lwh: [0.61, 0.88, 0.93], C_central_point: [0.11, 1.52, 0.51], C_heading: 20.23",
"D": "C_lwh: [0.61, 0.88, 0.93], C_central_point: [0.22, 1.52, 0.57], C_heading: 19.61",
"E": "C_lwh: [0.55, 0.81, 0.86], C_central_point: [0.11, 1.46, 0.51], C_heading: 19.98"
}
|
B
|
{"C_lwh": [0.49, 0.75, 0.8], "C_central_point": [-0.11, 1.4, -0.51], "C_heading": -19.86}
| 1 |
indoor
|
scene0116_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 58.7 |
{
"A": "1.04m",
"B": "0.46m",
"C": "0.68m",
"D": "0.75m",
"E": "0.87m"
}
|
D
|
0.75m
| 2 |
indoor
|
|
scene0116_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 58.7 |
{
"A": "24°",
"B": "29°",
"C": "33°",
"D": "20°",
"E": "17°"
}
|
A
|
24.22°
| 3 |
indoor
|
|
scene0117_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 20.5 |
{
"A": "0.28m",
"B": "0.13m",
"C": "0.20m",
"D": "0.34m",
"E": "0.44m"
}
|
B
|
0.13m
| 0 |
indoor
|
|
scene0117_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames? (unit: m, m/s, m/s², °)
| 0 | 20.5 |
{
"A": "5.98m",
"B": "6.04m",
"C": "6.28m",
"D": "6.16m",
"E": "6.22m"
}
|
C
|
6.28m
| 1 |
indoor
|
|
scene0117_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the wooden chair beside a round wooden table in the selected frame? Please choose the most appropriate option from below. (unit: m, m/s, m/s², °)
|
Object description: Wooden chair beside a round wooden table.
| 18.4 | 18.4 |
{
"A": "{\"C_lwh\": [0.62, 0.48, 0.49], \"C_central_point\": [1.00, 1.98, 1.82], \"C_heading\": 10.95}",
"B": "{\"C_lwh\": [0.60, 0.47, 0.48], \"C_central_point\": [0.99, 1.97, 1.81], \"C_heading\": 10.94}",
"C": "{\"C_lwh\": [0.63, 0.49, 0.50], \"C_central_point\": [0.97, 1.98, 1.82], \"C_heading\": 10.95}",
"D": "{\"C_lwh\": [0.58, 0.45, 0.47], \"C_central_point\": [0.97, 1.94, 1.80], \"C_heading\": 10.96}",
"E": "{\"C_lwh\": [0.61, 0.47, 0.49], \"C_central_point\": [0.99, 1.97, 1.82], \"C_heading\": 10.94}"
}
|
D
|
{"C_lwh": [0.58, 0.45, 0.47], "C_central_point": [-0.97, 1.94, -1.8], "C_heading": -10.96}
| 2 |
indoor
|
scene0117_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 20.5 |
{
"A": "5°",
"B": "8°",
"C": "0°",
"D": "11°",
"E": "4°"
}
|
C
|
8.03°
| 3 |
indoor
|
|
scene0117_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over a specified time interval? (unit: m, m/s, m/s², °)
| 15.4 | 20.1 |
{
"A": "0.12m/s",
"B": "0.27m/s",
"C": "0.03m/s",
"D": "0.19m/s",
"E": "0.15m/s"
}
|
E
|
0.15m/s
| 4 |
indoor
|
|
scene0118_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 6.69, "ty": 2.54, "tz": 1.35, "r11": 0.99, "r12": -0.07, "r13": 0.11, "r21": -0.13, "r22": -0.6, "r23": 0.79, "r31": 0.01, "r32": -0.8, "r33": -0.6}, estimate and select the most likely camera pose in 3D space for the specific frame that matches the ground truth. (unit: m, m/s, m/s², °)
| 8 | 8 |
{
"A": "{\"tx\": 2.65, \"ty\": 4.14, \"tz\": 2.39, \"r11\": 0.15, \"r12\": 0.43, \"r13\": -0.89, \"r21\": 0.99, \"r22\": -0.02, \"r23\": 0.15, \"r31\": 0.04, \"r32\": -0.9, \"r33\": -0.43}",
"B": "{\"tx\": 7.65, \"ty\": 1.14, \"tz\": 4.39, \"r11\": 0.15, \"r12\": 0.43, \"r13\": -0.89, \"r21\": 0.99, \"r22\": -0.02, \"r23\": 0.15, \"r31\": 0.04, \"r32\": -0.9, \"r33\": -0.43}",
"C": "{\"tx\": 4.65, \"ty\": 2.14, \"tz\": 1.39, \"r11\": 0.15, \"r12\": 0.43, \"r13\": -0.89, \"r21\": 0.99, \"r22\": -0.02, \"r23\": 0.15, \"r31\": 0.04, \"r32\": -0.9, \"r33\": -0.43}",
"D": "{\"tx\": 4.65, \"ty\": 0.14, \"tz\": 3.39, \"r11\": 0.15, \"r12\": 0.43, \"r13\": -0.89, \"r21\": 0.99, \"r22\": -0.02, \"r23\": 0.15, \"r31\": 0.04, \"r32\": -0.9, \"r33\": -0.43}",
"E": "{\"tx\": 6.65, \"ty\": 2.14, \"tz\": 1.39, \"r11\": 0.15, \"r12\": 0.43, \"r13\": -0.89, \"r21\": 0.99, \"r22\": -0.02, \"r23\": 0.15, \"r31\": 0.04, \"r32\": -0.9, \"r33\": -0.43}"
}
|
C
|
{"tx": 4.65, "ty": 2.14, "tz": 1.39, "r11": 0.15, "r12": 0.43, "r13": -0.89, "r21": 0.99, "r22": -0.02, "r23": 0.15, "r31": 0.04, "r32": -0.9, "r33": -0.43}
| 0 |
indoor
|
|
scene0118_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 6.69, "ty": 2.54, "tz": 1.35, "r11": 0.99, "r12": -0.07, "r13": 0.11, "r21": -0.13, "r22": -0.6, "r23": 0.79, "r31": 0.01, "r32": -0.8, "r33": -0.6}, estimate and select the most likely camera pose in 3D space using only the RGB video for the specific frame with the ground truth pose: {"tx": 6.39, "ty": 2.83, "tz": 1.41, "r11": 0.36, "r12": 0.4, "r13": -0.84, "r21": 0.93, "r22": -0.16, "r23": 0.32, "r31": -0.01, "r32": -0.9, "r33": -0.43}. (unit: m, m/s, m/s², °)
| 4 | 4 |
{
"A": "{\"tx\": 16.39, \"ty\": 12.83, \"tz\": 11.41, \"r11\": 0.36, \"r12\": 0.4, \"r13\": -0.84, \"r21\": 0.93, \"r22\": -0.16, \"r23\": 0.32, \"r31\": -0.01, \"r32\": -0.9, \"r33\": -0.43}",
"B": "{\"tx\": 6.39, \"ty\": 2.83, \"tz\": 11.41, \"r11\": 0.36, \"r12\": 0.4, \"r13\": -0.84, \"r21\": 0.93, \"r22\": -0.16, \"r23\": 0.32, \"r31\": -0.01, \"r32\": -0.9, \"r33\": -0.43}",
"C": "{\"tx\": 6.39, \"ty\": 2.83, \"tz\": 1.41, \"r11\": 0.36, \"r12\": 0.4, \"r13\": -0.84, \"r21\": 0.93, \"r22\": -0.16, \"r23\": 0.32, \"r31\": -0.01, \"r32\": -0.9, \"r33\": -0.43}",
"D": "{\"tx\": 4.39, \"ty\": 2.83, \"tz\": -1.41, \"r11\": 0.36, \"r12\": 0.4, \"r13\": -0.84, \"r21\": 0.93, \"r22\": -0.16, \"r23\": 0.32, \"r31\": -0.01, \"r32\": -0.9, \"r33\": -0.43}",
"E": "{\"tx\": 8.39, \"ty\": 2.83, \"tz\": 1.41, \"r11\": 0.36, \"r12\": 0.4, \"r13\": -0.84, \"r21\": 0.93, \"r22\": -0.16, \"r23\": 0.32, \"r31\": -0.01, \"r32\": -0.9, \"r33\": -0.43}"
}
|
C
|
{"tx": 6.39, "ty": 2.83, "tz": 1.41, "r11": 0.36, "r12": 0.4, "r13": -0.84, "r21": 0.93, "r22": -0.16, "r23": 0.32, "r31": -0.01, "r32": -0.9, "r33": -0.43}
| 1 |
indoor
|
|
scene0118_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What are the camera coordinates for the 3D bounding box of the blue patterned armchair with wooden arms next to a table from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: Blue patterned armchair with wooden arms next to a table.
| 9.5 | 9.5 |
{
"A": "{\"C_lwh\": [0.84, 1.16, 0.82], \"C_central_point\": [2.30, 0.34, 2.74], \"C_heading\": 138.01}",
"B": "{\"C_lwh\": [0.96, 1.28, 0.94], \"C_central_point\": [2.42, 0.48, 2.87], \"C_heading\": 138.63}",
"C": "{\"C_lwh\": [0.93, 1.25, 0.91], \"C_central_point\": [2.39, 0.45, 2.83], \"C_heading\": 138.48}",
"D": "{\"C_lwh\": [0.90, 1.22, 0.88], \"C_central_point\": [2.36, 0.42, 2.80], \"C_heading\": 138.32}",
"E": "{\"C_lwh\": [0.87, 1.19, 0.85], \"C_central_point\": [2.33, 0.39, 2.77], \"C_heading\": 138.17}"
}
|
A
|
{"C_lwh": [0.84, 1.16, 0.82], "C_central_point": [2.3, -0.34, 2.74], "C_heading": 138.01}
| 2 |
indoor
|
scene0118_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the distance between the camera and the blue patterned armchair with light wooden arms in the corner at the given frame? (unit: m, m/s, m/s², °)
|
Object: Blue patterned armchair with light wooden arms, in a corner.
| 0 | 0 |
{
"A": "6.33m",
"B": "6.96m",
"C": "7.27m",
"D": "6.51m",
"E": "6.65m"
}
|
B
|
6.96m
| 3 |
indoor
|
scene0118_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 9.3 | 12 |
{
"A": "0.03 m/s",
"B": "0.24 m/s",
"C": "0.34 m/s",
"D": "0.48 m/s",
"E": "0.19 m/s"
}
|
E
|
0.19m/s
| 4 |
indoor
|
|
scene0118_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 20.8 |
{
"A": "41°",
"B": "37°",
"C": "29°",
"D": "26°",
"E": "33°"
}
|
E
|
33.08°
| 5 |
indoor
|
|
scene0119_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the distance between the camera and the white bathroom vanity with two drawers and a faucet at the given frame? (unit: m, m/s, m/s², °)
|
Object: White bathroom vanity with two drawers and a faucet.
| 2.9 | 2.9 |
{
"A": "4.30m",
"B": "4.39m",
"C": "4.26m",
"D": "4.12m",
"E": "4.19m"
}
|
E
|
4.19m
| 0 |
indoor
|
scene0119_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 4.05, "ty": 1.15, "tz": 1.54, "r11": 0.96, "r12": 0.03, "r13": -0.26, "r21": 0.27, "r22": -0.14, "r23": 0.95, "r31": -0.01, "r32": -0.99, "r33": -0.14}, estimate and select the most likely camera pose in 3D space using only the RGB video that matches the ground truth. (unit: m, m/s, m/s², °)
| 25 | 25 |
{
"A": "{\"tx\": 9.45, \"ty\": 4.56, \"tz\": 4.43, \"r11\": -0.34, \"r12\": 0.42, \"r13\": -0.84, \"r21\": 0.94, \"r22\": 0.07, \"r23\": -0.35, \"r31\": -0.09, \"r32\": -0.9, \"r33\": -0.42}",
"B": "{\"tx\": 0.45, \"ty\": 0.16, \"tz\": 0.13, \"r11\": -0.34, \"r12\": 0.42, \"r13\": -0.84, \"r21\": 0.94, \"r22\": 0.07, \"r23\": -0.35, \"r31\": -0.09, \"r32\": -0.9, \"r33\": -0.42}",
"C": "{\"tx\": 5.45, \"ty\": 1.56, \"tz\": 1.43, \"r11\": -0.34, \"r12\": 0.42, \"r13\": -0.84, \"r21\": 0.94, \"r22\": 0.07, \"r23\": -0.35, \"r31\": -0.09, \"r32\": -0.9, \"r33\": -0.42}",
"D": "{\"tx\": 7.45, \"ty\": 3.56, \"tz\": 3.43, \"r11\": -0.34, \"r12\": 0.42, \"r13\": -0.84, \"r21\": 0.94, \"r22\": 0.07, \"r23\": -0.35, \"r31\": -0.09, \"r32\": -0.9, \"r33\": -0.42}",
"E": "{\"tx\": 2.45, \"ty\": 0.56, \"tz\": 0.43, \"r11\": -0.34, \"r12\": 0.42, \"r13\": -0.84, \"r21\": 0.94, \"r22\": 0.07, \"r23\": -0.35, \"r31\": -0.09, \"r32\": -0.9, \"r33\": -0.42}"
}
|
C
|
{"tx": 5.45, "ty": 1.56, "tz": 1.43, "r11": -0.34, "r12": 0.42, "r13": -0.84, "r21": 0.94, "r22": 0.07, "r23": -0.35, "r31": -0.09, "r32": -0.9, "r33": -0.42}
| 1 |
indoor
|
|
scene0119_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 31 |
{
"A": "31°",
"B": "36°",
"C": "42°",
"D": "13°",
"E": "23°"
}
|
A
|
-31.46°
| 2 |
indoor
|
|
scene0119_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 31 |
{
"A": "1.93m",
"B": "1.36m",
"C": "0.97m",
"D": "1.62m",
"E": "2.67m"
}
|
D
|
1.62m
| 3 |
indoor
|
|
scene0119_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames? (unit: m, m/s, m/s², °)
| 0 | 31 |
{
"A": "4.39m",
"B": "4.59m",
"C": "4.65m",
"D": "4.53m",
"E": "4.47m"
}
|
B
|
4.59m
| 4 |
indoor
|
|
scene0119_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 29.4 | 30.6 |
{
"A": "0.35m/s",
"B": "0.38m/s",
"C": "0.17m/s",
"D": "0.25m/s",
"E": "0.30m/s"
}
|
D
|
0.25m/s
| 5 |
indoor
|
|
scene0120_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the black trash bins with labels in a hallway from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: Black trash bins with labels in a hallway.
| 24.8 | 24.8 |
{
"A": "C_lwh: [0.43, 0.54, 1.01], C_central_point: [6.43, 0.14, 0.89], C_heading: 162.08",
"B": "C_lwh: [0.51, 0.54, 1.01], C_central_point: [6.40, 0.26, 0.76], C_heading: 162.08",
"C": "C_lwh: [0.46, 0.57, 1.04], C_central_point: [6.59, 0.30, 0.76], C_heading: 162.08",
"D": "C_lwh: [0.43, 0.54, 1.01], C_central_point: [6.46, 0.14, 0.92], C_heading: 162.08",
"E": "C_lwh: [0.43, 0.54, 1.01], C_central_point: [6.43, 0.14, 0.76], C_heading: 162.08"
}
|
E
|
{"C_lwh": [0.43, 0.54, 1.01], "C_central_point": [6.43, -0.14, 0.76], "C_heading": -162.08}
| 0 |
indoor
|
scene0120_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
For a green plastic bucket behind a cardboard box observed in a single randomly selected frame, what is the object's 3D bounding box in camera coordinates? (unit: m, m/s, m/s², °)
|
Object description: green plastic bucket behind a cardboard box
| 25.3 | 25.3 |
{
"A": "{\"C_lwh\": [0.32, 0.32, 0.39], \"C_central_point\": [5.46, 0.74, 0.13], \"C_heading\": 165.33}",
"B": "{\"C_lwh\": [0.32, 0.32, 0.39], \"C_central_point\": [5.42, 0.74, 0.13], \"C_heading\": 165.33}",
"C": "{\"C_lwh\": [0.32, 0.32, 0.39], \"C_central_point\": [5.36, 0.74, 0.13], \"C_heading\": 165.33}",
"D": "{\"C_lwh\": [0.32, 0.32, 0.39], \"C_central_point\": [5.30, 0.74, 0.13], \"C_heading\": 165.33}",
"E": "{\"C_lwh\": [0.32, 0.32, 0.39], \"C_central_point\": [5.33, 0.74, 0.13], \"C_heading\": 165.33}"
}
|
D
|
{"C_lwh": [0.32, 0.32, 0.39], "C_central_point": [5.3, 0.74, 0.13], "C_heading": -165.33}
| 1 |
indoor
|
scene0120_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 3.61, "ty": 1.56, "tz": 1.44, "r11": 0.43, "r12": 0.2, "r13": -0.88, "r21": 0.9, "r22": -0.11, "r23": 0.41, "r31": -0.02, "r32": -0.97, "r33": -0.23}, estimate and select the most likely camera pose in 3D space using only the RGB video to match the ground truth. (unit: m, m/s, m/s², °)
| 13 | 13 |
{
"A": "{\"tx\": 2.41, \"ty\": 2.5, \"tz\": 1.24, \"r11\": -0.96, \"r12\": 0.21, \"r13\": -0.19, \"r21\": 0.28, \"r22\": 0.62, \"r23\": -0.74, \"r31\": -0.04, \"r32\": -0.76, \"r33\": -0.65}",
"B": "{\"tx\": 5.41, \"ty\": 3.5, \"tz\": 4.24, \"r11\": 0.45, \"r12\": 0.22, \"r13\": -0.86, \"r21\": 0.92, \"r22\": -0.10, \"r23\": 0.42, \"r31\": -0.01, \"r32\": -0.96, \"r33\": -0.22}",
"C": "{\"tx\": 4.41, \"ty\": 4.5, \"tz\": 3.24, \"r11\": 0.43, \"r12\": 0.23, \"r13\": -0.88, \"r21\": 0.9, \"r22\": -0.11, \"r23\": 0.41, \"r31\": -0.02, \"r32\": -0.97, \"r33\": -0.23}",
"D": "{\"tx\": 1.41, \"ty\": 6.5, \"tz\": 2.24, \"r11\": 0.42, \"r12\": 0.25, \"r13\": -0.89, \"r21\": 0.89, \"r22\": -0.12, \"r23\": 0.40, \"r31\": -0.03, \"r32\": -0.95, \"r33\": -0.21}",
"E": "{\"tx\": 3.41, \"ty\": 5.5, \"tz\": 1.34, \"r11\": 0.44, \"r12\": 0.24, \"r13\": -0.87, \"r21\": 0.91, \"r22\": -0.13, \"r23\": 0.43, \"r31\": -0.04, \"r32\": -0.94, \"r33\": -0.24}"
}
|
A
|
{"tx": 2.41, "ty": 2.5, "tz": 1.24, "r11": -0.96, "r12": 0.21, "r13": -0.19, "r21": 0.28, "r22": 0.62, "r23": -0.74, "r31": -0.04, "r32": -0.76, "r33": -0.65}
| 2 |
indoor
|
|
scene0120_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 3.61, "ty": 1.56, "tz": 1.44, "r11": 0.43, "r12": 0.2, "r13": -0.88, "r21": 0.9, "r22": -0.11, "r23": 0.41, "r31": -0.02, "r32": -0.97, "r33": -0.23}, estimate and select the most likely camera pose in 3D space using only the RGB video and compare with the ground truth. The ground truth is: {"tx": 2.11, "ty": 2.58, "tz": 1.37, "r11": 0.48, "r12": -0.32, "r13": 0.82, "r21": -0.88, "r22": -0.11, "r23": 0.47, "r31": -0.06, "r32": -0.94, "r33": -0.34}. (unit: m, m/s, m/s², °)
| 22 | 22 |
{
"A": "{\"tx\": 2.11, \"ty\": 2.58, \"tz\": 1.37, \"r11\": 0.48, \"r12\": -0.32, \"r13\": 0.82, \"r21\": -0.88, \"r22\": -0.11, \"r23\": 0.47, \"r31\": -0.06, \"r32\": -0.94, \"r33\": -0.34}",
"B": "{\"tx\": 4.61, \"ty\": 4.58, \"tz\": 3.37, \"r11\": 0.48, \"r12\": -0.32, \"r13\": 0.82, \"r21\": -0.88, \"r22\": -0.11, \"r23\": 0.47, \"r31\": -0.06, \"r32\": -0.94, \"r33\": -0.34}",
"C": "{\"tx\": 5.61, \"ty\": 6.58, \"tz\": 4.37, \"r11\": 0.48, \"r12\": -0.32, \"r13\": 0.82, \"r21\": -0.88, \"r22\": -0.11, \"r23\": 0.47, \"r31\": -0.06, \"r32\": -0.94, \"r33\": -0.34}",
"D": "{\"tx\": 6.11, \"ty\": 3.58, \"tz\": 7.37, \"r11\": 0.48, \"r12\": -0.32, \"r13\": 0.82, \"r21\": -0.88, \"r22\": -0.11, \"r23\": 0.47, \"r31\": -0.06, \"r32\": -0.94, \"r33\": -0.34}",
"E": "{\"tx\": 7.61, \"ty\": 8.58, \"tz\": 3.37, \"r11\": 0.48, \"r12\": -0.32, \"r13\": 0.82, \"r21\": -0.88, \"r22\": -0.11, \"r23\": 0.47, \"r31\": -0.06, \"r32\": -0.94, \"r33\": -0.34}"
}
|
A
|
{"tx": 2.11, "ty": 2.58, "tz": 1.37, "r11": 0.48, "r12": -0.32, "r13": 0.82, "r21": -0.88, "r22": -0.11, "r23": 0.47, "r31": -0.06, "r32": -0.94, "r33": -0.34}
| 3 |
indoor
|
|
scene0120_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 23.8 | 26.8 |
{
"A": "0.41m/s",
"B": "0.36m/s",
"C": "0.51m/s",
"D": "0.49m/s",
"E": "0.31m/s"
}
|
A
|
0.41m/s
| 4 |
indoor
|
|
scene0120_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 30.2 |
{
"A": "21°",
"B": "29°",
"C": "25°",
"D": "18°",
"E": "34°"
}
|
C
|
25.09°
| 5 |
indoor
|
|
scene0120_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 30.2 |
{
"A": "0.19m",
"B": "0.29m",
"C": "0.14m",
"D": "0.43m",
"E": "0.33m"
}
|
B
|
0.24m
| 6 |
indoor
|
|
scene0120_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames? (unit: m, m/s, m/s², °)
| 0 | 30.2 |
{
"A": "9.27m",
"B": "9.55m",
"C": "9.47m",
"D": "9.63m",
"E": "9.41m"
}
|
C
|
9.47m
| 7 |
indoor
|
|
scene0121_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the distance between the camera and the white double doors with gold handles and a plain design at the given frame? (unit: m, m/s, m/s², °)
|
Object: White double doors with gold handles, plain design.
| 9.2 | 9.2 |
{
"A": "0.77m",
"B": "0.53m",
"C": "0.69m",
"D": "0.58m",
"E": "0.63m"
}
|
D
|
0.58m
| 0 |
indoor
|
scene0121_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the coiled beige hose on a beige floor near folded clothes from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: Coiled beige hose on a beige floor near folded clothes.
| 22.2 | 22.2 |
{
"A": "{\"C_lwh\": [0.61, 0.72, 0.38], \"C_central_point\": [1.29, 1.45, 0.04], \"C_heading\": 18.93}",
"B": "{\"C_lwh\": [0.61, 0.72, 0.38], \"C_central_point\": [1.35, 1.51, 0.12], \"C_heading\": 18.93}",
"C": "{\"C_lwh\": [0.61, 0.72, 0.38], \"C_central_point\": [1.29, 1.50, 0.09], \"C_heading\": 18.93}",
"D": "{\"C_lwh\": [0.61, 0.72, 0.38], \"C_central_point\": [1.31, 1.47, 0.06], \"C_heading\": 18.93}",
"E": "{\"C_lwh\": [0.61, 0.72, 0.38], \"C_central_point\": [1.37, 1.51, 0.12], \"C_heading\": 18.93}"
}
|
A
|
{"C_lwh": [0.61, 0.72, 0.38], "C_central_point": [-1.29, 1.45, 0.04], "C_heading": -18.93}
| 1 |
indoor
|
scene0121_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the black coat hanging in a closet with folded clothes below, from a single randomly selected frame? The options include length, width, height, central point (x, y, z), and heading angle. (unit: m, m/s, m/s², °)
|
Object description: Black coat hanging in a closet with folded clothes below.
| 52.2 | 52.2 |
{
"A": "{\"C_lwh\": [0.56, 0.13, 0.99], \"C_central_point\": [1.37, 1.07, 3.56], \"C_heading\": 176.83}",
"B": "{\"C_lwh\": [0.55, 0.12, 0.98], \"C_central_point\": [1.36, 1.06, 3.55], \"C_heading\": 176.68}",
"C": "{\"C_lwh\": [0.55, 0.13, 0.98], \"C_central_point\": [1.36, 1.06, 3.55], \"C_heading\": 176.76}",
"D": "{\"C_lwh\": [0.54, 0.11, 0.97], \"C_central_point\": [1.35, 1.05, 3.54], \"C_heading\": 176.52}",
"E": "{\"C_lwh\": [0.53, 0.11, 0.96], \"C_central_point\": [1.34, 1.04, 3.53], \"C_heading\": 176.60}"
}
|
E
|
{"C_lwh": [0.53, 0.11, 0.96], "C_central_point": [1.34, -1.04, 3.53], "C_heading": 176.6}
| 2 |
indoor
|
scene0121_00.mp4
|
ScanNet
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval? (unit: m, m/s, m/s², °)
| 52.4 | 57.1 |
{
"A": "0.23m/s",
"B": "0.12m/s",
"C": "0.17m/s",
"D": "0.08m/s",
"E": "0.26m/s"
}
|
C
|
0.17m/s
| 3 |
indoor
|
|
scene0121_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames if the object observed is a car moving along a straight road? (unit: m, m/s, m/s², °)
| 0 | 59.8 |
{
"A": "0.64m",
"B": "0.71m",
"C": "0.79m",
"D": "0.87m",
"E": "0.68m"
}
|
C
|
0.79m
| 4 |
indoor
|
|
scene0121_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames? (unit: m, m/s, m/s², °)
| 0 | 59.8 |
{
"A": "12.57m",
"B": "12.87m",
"C": "12.63m",
"D": "12.39m",
"E": "12.80m"
}
|
C
|
12.63m
| 5 |
indoor
|
|
scene0121_00.mp4
|
ScanNet
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video? (unit: m, m/s, m/s², °)
| 0 | 59.8 |
{
"A": "5°",
"B": "26°",
"C": "10°",
"D": "22°",
"E": "17°"
}
|
C
|
9.50°
| 6 |
indoor
|
|
scene0122_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate height of the two black office chairs on the carpeted floor against the cream wall? (unit: m, m/s, m/s², °)
|
Object description: Two black office chairs on carpeted floor against cream wall.
| 6.3 | 32.5 |
{
"A": "1.00m",
"B": "1.13m",
"C": "1.03m",
"D": "0.90m",
"E": "1.20m"
}
|
C
|
0.65m, 0.76m, 1.03m
| 0 |
indoor
|
scene0122_00.mp4
|
ScanNet
|
Dimensional Measurement
|
Single Choice
|
What is the most likely minimum relative distance between the black mesh office chair near a round wooden table and the round table with grey top and wooden edge in a given frame? (unit: m, m/s, m/s², °)
|
Objects: Black mesh office chair near a round wooden table. and Round table with grey top and wooden edge.
| 3.3 | 3.3 |
{
"A": "0.57 m",
"B": "0.41 m",
"C": "0.33 m",
"D": "0.49 m",
"E": "0.25 m"
}
|
E
|
0.25m
| 1 |
indoor
|
scene0122_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
In a randomly selected frame, what is the 3D bounding box in camera coordinates for the black office chair with mesh backrests in the conference room? Please select the most appropriate parameter set. (unit: m, m/s, m/s², °)
|
Object description: Black office chairs with mesh backrests in a conference room.
| 30.9 | 30.9 |
{
"A": "C_lwh: [0.77, 0.59, 1.06], C_central_point: [1.76, 0.56, 0.84], C_heading: 27.44",
"B": "C_lwh: [0.74, 0.57, 0.98], C_central_point: [1.81, 0.49, 0.84], C_heading: 27.59",
"C": "C_lwh: [0.74, 0.60, 0.93], C_central_point: [1.78, 0.44, 1.00], C_heading: 26.97",
"D": "C_lwh: [0.74, 0.57, 0.93], C_central_point: [1.78, 0.44, 0.84], C_heading: 27.28",
"E": "C_lwh: [0.76, 0.57, 1.04], C_central_point: [1.87, 0.52, 0.87], C_heading: 27.12"
}
|
D
|
{"C_lwh": [0.74, 0.57, 0.93], "C_central_point": [-1.78, 0.44, 0.84], "C_heading": 27.28}
| 2 |
indoor
|
scene0122_00.mp4
|
ScanNet
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the black mesh chair in the office corner near the whiteboard from a single randomly selected frame? (unit: m, m/s, m/s², °)
|
Object description: Black mesh chair in an office corner near a whiteboard.
| 23.6 | 23.6 |
{
"A": "{\"C_lwh\": [2.38, 3.08, 1.63], \"C_central_point\": [0.97, 1.46, 1.02], \"C_heading\": 66.77}",
"B": "{\"C_lwh\": [2.63, 3.33, 1.38], \"C_central_point\": [0.96, 1.33, 1.02], \"C_heading\": 65.52}",
"C": "{\"C_lwh\": [2.88, 3.58, 1.50], \"C_central_point\": [1.21, 1.58, 1.27], \"C_heading\": 68.02}",
"D": "{\"C_lwh\": [3.13, 3.83, 1.75], \"C_central_point\": [1.46, 1.83, 1.52], \"C_heading\": 69.27}",
"E": "{\"C_lwh\": [3.38, 4.08, 2.00], \"C_central_point\": [1.71, 2.08, 1.77], \"C_heading\": 70.52}"
}
|
B
|
{"C_lwh": [2.63, 3.33, 1.38], "C_central_point": [0.96, 1.33, -1.02], "C_heading": -65.52}
| 3 |
indoor
|
scene0122_00.mp4
|
ScanNet
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera between two frames? (unit: m, m/s, m/s², °)
| 0 | 32.5 |
{
"A": "1.77m",
"B": "1.46m",
"C": "0.91m",
"D": "1.17m",
"E": "0.56m"
}
|
C
|
0.91m
| 4 |
indoor
|
|
scene0122_00.mp4
|
ScanNet
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 1.36, "ty": 1.17, "tz": 1.36, "r11": -0.4, "r12": -0.51, "r13": 0.76, "r21": -0.92, "r22": 0.25, "r23": -0.32, "r31": -0.03, "r32": -0.82, "r33": -0.56}, estimate and select the most likely camera pose in 3D space using only the RGB video for a specific frame that matches the ground truth. (unit: m, m/s, m/s², °)
| 21 | 21 |
{
"A": "{\"tx\": 1.23, \"ty\": 0.96, \"tz\": 1.36, \"r11\": -0.46, \"r12\": -0.43, \"r13\": 0.78, \"r21\": -0.89, \"r22\": 0.23, \"r23\": -0.4, \"r31\": -0.01, \"r32\": -0.87, \"r33\": -0.49}",
"B": "{\"tx\": 5.23, \"ty\": 4.96, \"tz\": 5.36, \"r11\": -0.46, \"r12\": -0.43, \"r13\": 0.78, \"r21\": -0.89, \"r22\": 0.23, \"r23\": -0.4, \"r31\": -0.01, \"r32\": -0.87, \"r33\": -0.49}",
"C": "{\"tx\": 7.23, \"ty\": 6.96, \"tz\": 7.36, \"r11\": -0.46, \"r12\": -0.43, \"r13\": 0.78, \"r21\": -0.89, \"r22\": 0.23, \"r23\": -0.4, \"r31\": -0.01, \"r32\": -0.87, \"r33\": -0.49}",
"D": "{\"tx\": 3.23, \"ty\": 2.96, \"tz\": 3.36, \"r11\": -0.46, \"r12\": -0.43, \"r13\": 0.78, \"r21\": -0.89, \"r22\": 0.23, \"r23\": -0.4, \"r31\": -0.01, \"r32\": -0.87, \"r33\": -0.49}",
"E": "{\"tx\": 9.23, \"ty\": 8.96, \"tz\": 9.36, \"r11\": -0.46, \"r12\": -0.43, \"r13\": 0.78, \"r21\": -0.89, \"r22\": 0.23, \"r23\": -0.4, \"r31\": -0.01, \"r32\": -0.87, \"r33\": -0.49}"
}
|
A
|
{"tx": 1.23, "ty": 0.96, "tz": 1.36, "r11": -0.46, "r12": -0.43, "r13": 0.78, "r21": -0.89, "r22": 0.23, "r23": -0.4, "r31": -0.01, "r32": -0.87, "r33": -0.49}
| 5 |
indoor
|
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