This document specifies an annotation language for visual information, based on VoxML (visual object concept structure modelling language), a modelling language for the visualizations of concepts and actions denoted by natural language (NL) expressions in three dimensions (3D).

The specification of the VoxML-based annotation scheme conforms to the requirements given in ISO 24617-1, ISO 24617-7 and ISO 24617-14. The adoption of VoxML, specified in ISO 24617-14 as a semantic basis, is necessary for the 3D simulation and visualization of actions and motions taken by both human and artificial agents in real-life situations.