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3RScan

Benchmarks

Task NameDataset NameSOTA ResultTrend
Scene Retrieval3RScan (test)
MRR95
16
3D Point Cloud Registration3RScan (test)
CD0.0083
13
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
4D Instance Semantic Segmentation3RScan v1 (test)
tmAP34.8
7
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
Relationship-to-Relationship Scene Retrieval3RScan (val)
Temporal Recall@119.15
4
Cross-Modal Scene Retrieval (Point Cloud to Description)3RScan
Scene Matching Recall@16.71
4
Cross-Modal Scene Retrieval (Image to Description)3RScan
Scene Matching Recall @18.72
4
Cross-Modal Scene Retrieval (Image to Point Cloud)3RScan
Scene Matching Recall@114.01
4
Instance Matching3RScan 65
Instance Recall (Static)60.32
4
Overlap check3RScan (val)
Precision95.41
4
Point cloud mosaicking3RScan (143 scenes)
Accuracy12.13
4
Point Cloud Registration3RScan (val)
Rotational Error (RRE)1.57
4
3D Visual Grounding3RScan (test)
Unique Success Rate80.4
3
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