Replica
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Novel View Synthesis | Replica | PSNR44.373 | 198 | |
| Photometric Rendering | Replica (room0-2, office0-4) | PSNR41.21 | 80 | |
| Novel View Synthesis | Replica (test) | PSNR35.79 | 67 | |
| GS Depth Rendering | Replica Dataset | RMSE0.043 | 54 | |
| Multiresolution Rendering | Replica | PSNR42.2 | 48 | |
| Camera Tracking | Replica | Rotation Error (rm-0)0.18 | 48 | |
| 3D Semantic Segmentation | Replica | 3D mIoU54.98 | 47 | |
| Audio-visual Navigation | Replica Heard | SPL86.6 | 40 | |
| 3D Reconstruction | Replica | Accuracy3,465.06 | 36 | |
| Cross-modal registration | Replica 62 | Rotation Error0.217 | 36 | |
| Audio-visual Navigation | Replica 1.0 (Unheard) | SPL49.9 | 27 | |
| 3D scene graph generation | Replica (room0-office4) | Node Precision88 | 27 | |
| 3D Semantic Mapping | Replica | mAcc53.55 | 25 | |
| 3D Instance Segmentation | Replica | AP2546.6 | 24 | |
| Surface Reconstruction | Replica Office0, Office1, Office2, Office3, Office4, Room0, Room1, Room2 | CD (mm) - Office030.962 | 21 | |
| Mesh Reconstruction | Replica (Room 0) | Depth L1 Error0.23 | 21 | |
| 3D Scene Reconstruction | Replica | CD2.94 | 21 | |
| Reconstruction | Replica average over 8 scenes | Accuracy (Dist)1.56 | 21 | |
| Novel View Rendering | Replica Of0 60 | PSNR33.7 | 21 | |
| Sparse-view 3D reconstruction | Replica (test) | PSNR20.36 | 18 | |
| Map Construction | Replica Apartment_2 | Construction Runtime (ms)3.64 | 18 | |
| Map Construction | Replica Apartment_1 | Construction Runtime (ms)3.16 | 18 | |
| Map Construction | Replica Apartment_0 | Construction Runtime (ms)6.58 | 18 | |
| Discretized Goal Navigation | Replica | Feasibility100 | 16 | |
| Semantic Instance Targeting | Replica | Feasibility100 | 16 |
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