zhangjxx/XDen-1K

XDen-1K: A Density Field Dataset of Real-World Objects

ECCV 2026

Official dataset release for XDen-1K: A Density Field Dataset of Real-World Objects.

Overview

XDen-1K is a large-scale, multi-modal dataset of real-world objects designed for physical property estimation, especially volumetric density field reconstruction.

Each real-world object is coupled with:

• Category
• Real-world scale
• RGB image
• High-resolution 3D mesh with real-world scale
• Part-level annotations
• Bi-planar X-ray scans
• Optimized volumetric density field, reconstructed from bi-planar X-ray scans

Data Structure

dataset/
├── 01/
│   ├── ori_image.jpg             # RGB image
│   ├── mesh.glb                  # 3D mesh with real-world scale
│   ├── density_pc.ply            # Point cloud with per-point density
│   ├── optimized_lac.nii.gz       # Optimized LAC volume
│   ├── lat.nii.gz                # Lateral X-ray scan
│   ├── pa.nii.gz                 # PA X-ray scan
│   └── part_lac_density.json      # Per-part LAC and density values
├── 02/
│   └── ...
└── ...

Metadata

The category and scale information are provided in the metadata.json file.

metadata.json

{
  "01": {
    "category": "xx",
    "scale": [0.0, 0.0, 0.0]
  },
  "02": {
    "category": "yy",
    "scale": [0.0, 0.0, 0.0]
  }
}

where:

• category: the category that the object belongs to

• scale: the real-world scale of the object in centimeters

  Citation

If you find this dataset useful for your research, please consider citing our work:

@misc{zhang2025xden1kdensityfielddataset,
  title        = {XDen-1K: A Density Field Dataset of Real-World Objects},
  author       = {Jingxuan Zhang and Tianqi Yu and Yatu Zhang and Jinze Wu and Kaixin Yao and Jingyang Liu and Yuyao Zhang and Jiayuan Gu and Jingyi Yu},
  year         = {2025},
  eprint       = {2512.10668},
  archivePrefix= {arXiv},
  primaryClass = {cs.CV},
  url          = {https://arxiv.org/abs/2512.10668}
}