3D-COCO is a dataset composed of MS COCO images with 3D models aligned on each instance. 3D-COCO was designed to achieve computer vision tasks such as 3D reconstruction or image detection configurable with textual, 2D image, and 3D CAD model queries.

3D-COCO is an extension of the original MS-COCO dataset providing 3D models and 2D-3D alignment annotations. We complete the existing MS-COCO dataset with 28K 3D models collected on ShapeNet and Objaverse. By using an IoU-based method, we match each MS-COCO annotation with the best 3D models to provide a 2D-3D alignment.