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3RScan

Benchmarks

Task NameDataset NameSOTA ResultTrend
Sequential Visual Localization3RScan v1 (test)
Recall @ 0.25m distance75
18
Scene Retrieval3RScan (test)
MRR95
16
3D Point Cloud Registration3RScan (test)
CD0.0083
13
3D Instance Segmentation3RScan (test)
mAP42.9
10
Relationship Detection3RScan
Old Recall@163
10
Predicate Detection3RScan
R@398
10
Object Detection3RScan
R@1089
10
Class-agnostic 3D instance segmentationScanNet200-to-3RScan cross-dataset (test)
AP14.4
9
Scene Graph Node Alignment3RScan (val)
Mean RR98.7
9
3D Instance Segmentation3RScan ScanNet200→3RScan transfer (test)
AP16.8
8
3D Object Detection3RScan (val)
mAP@0.2568.1
8
Cross-modal sequential scene retrieval3RScan 50 candidates (test)
Rt@181
7
Cross-modal sequential scene retrieval3RScan 10 candidates (test)
Rt@189
7
4D Instance Semantic Segmentation3RScan v1 (test)
tmAP34.8
7
Visual Localization3RScan
Average Storage per Scene (MB)4.2
6
Scene graph prediction3RScan 20 object and 8 predicate classes (test)
Recall (Relationship)68.3
6
3D Scene Graph Prediction3RScan 160 object and 26 predicate classes (test)
Recall (Rel.)68.7
6
3D Object Detection3RScan
mAP@0.2564.7
6
Overlap Check3RScan
Precision99.63
6
Temporal Instance Matching (Point-to-Point)3RScan v1 (test)
Recall@25%92.31
5
Image-to-Image Scene Retrieval3RScan (val)
Temporal Recall@10.1702
5
Point Cloud Registration3RScan 65 (test)
RR61.11
5
Instance Reconstruction3RScan
L1-Chamfer Distance6.16
5
Cross-Modal Coarse Visual Localization3RScan Static Scenario
Recall@1 (K=10)53.6
4
Point-Cloud-to-Point-Cloud Scene Retrieval3RScan (val)
Temporal Recall@119.15
4
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