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Matterport3D

Benchmarks

Task NameDataset NameSOTA ResultTrend
Depth EstimationMatterport3D
delta196.08
53
Monocular Depth EstimationMatterport3D (test)
Delta Acc (< 1.25)98.09
48
Audio-visual NavigationMatterport3D Heard
SPL72.3
40
Language-conditioned ExplorationMatterport3D Habitat Simulation
Duration14.09
39
3D Semantic SegmentationMatterport3D (test)
mIoU51.9
32
3D Semantic SegmentationMatterport3D (val)
mIoU54.12
31
Audio-driven NavigationMatterport3D (Unheard)
SPL52.2
28
Room-instance recoveryMatterport3D (MP3D) (12 scenes)
Recall (R)66.7
26
Semantic SegmentationMatterport3D (val)
mIoU57.1
22
Monocular 360 Depth EstimationMatterport3D official (test)
Delta Acc (1.25x)94.8
20
Two-view reconstructionMatterport3D (test)
WS-PSNR28.89
18
Monocular Depth EstimationMatterport3D (unseen)
AbsRel8.2
17
3D Semantic SegmentationMatterport3D K=160 (test)
mIoU11.6
17
3D Semantic SegmentationMatterport3D K=80 (test)
mIoU22
17
3D Semantic SegmentationMatterport3D K=40 (test)
mIoU38.5
17
Depth CompletionMatterport3D (test)
RMSE0.5223
16
Audio-visual NavigationMatterport3D Unheard sound
SPL42.4
15
Panorama GenerationMatterport3D (test)
FID21.44
15
3D Semantic SegmentationMatterport3D 1.0 (test)
mAcc67.2
14
Panoramic Depth EstimationMatterport3D (test)
Abs Rel0.078
12
Multi-robot Exploration and CoverageMatterPort3D Medium Scene
Exploration (%)99.66
12
Multi-robot Exploration and CoverageMatterPort3D Small Scene
Exploration Rate99.17
12
Multi-robot Exploration and CoverageMatterPort3D Large Scene
Exploration Percentage98.95
12
Multi-object NavigationMatterport3D (test)
SPL57.9
12
Scale-invariant Depth Map EstimationMatterport3D
AbsRel5.95
11
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