Detecting 3D objects keypoints is of great interest to the areas of both graphics and computer vision. There have been several 2D and 3D keypoint datasets aiming to address this problem in a data-driven way. These datasets, however, either lack scalability or bring ambiguity to the definition of keypoints. Therefore, we present KeypointNet: the first large-scale and diverse 3D keypoint dataset that contains 83,231 keypoints and 8,329 3D models from 16 object categories, by leveraging numerous

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... man annotations. To handle the inconsistency between annotations from different people, we propose a novel method to aggregate these keypoints automatically, through minimization of a fidelity loss. Finally, ten state-of-the-art methods are benchmarked on our proposed dataset.