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Replica

Benchmarks

Task NameDataset NameSOTA ResultTrend
Photometric RenderingReplica (room0-2, office0-4)
PSNR41.21
80
Novel View SynthesisReplica
PSNR39.78
69
Multiresolution RenderingReplica
PSNR42.2
48
3D Semantic SegmentationReplica
3D mIoU54.98
41
Audio-visual NavigationReplica Heard
SPL86.6
40
Camera TrackingReplica
Rotation Error (rm-0)0.18
38
3D ReconstructionReplica
Accuracy3,465.06
36
Cross-modal registrationReplica 62
Rotation Error0.217
36
Audio-visual NavigationReplica 1.0 (Unheard)
SPL49.9
27
3D scene graph generationReplica (room0-office4)
Node Precision88
27
3D Semantic MappingReplica
mAcc53.55
25
3D Instance SegmentationReplica
AP2546.6
24
Surface ReconstructionReplica Office0, Office1, Office2, Office3, Office4, Room0, Room1, Room2
CD (mm) - Office030.962
21
Mesh ReconstructionReplica (Room 0)
Depth L1 Error0.23
21
ReconstructionReplica average over 8 scenes
Accuracy (Dist)1.56
21
Novel View RenderingReplica Of0 60
PSNR33.7
21
Map ConstructionReplica Apartment_2
Construction Runtime (ms)3.64
18
Map ConstructionReplica Apartment_1
Construction Runtime (ms)3.16
18
Map ConstructionReplica Apartment_0
Construction Runtime (ms)6.58
18
Audio-visual NavigationReplica Unheard sound
SPL63.3
16
ReconstructionReplica instance segmentation setting
PSNR40.66
16
Semantic SegmentationReplica
Avg Accuracy89.3
16
Camera pose estimationReplica
ATE RMSE (cm)0.31
15
3D Scene ReconstructionReplica
CD3.68
14
TrackingReplica (test)
Rotation Error (Rm) 00.03
14
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