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Structured3D

Benchmarks

Task NameDataset NameSOTA ResultTrend
Semantic SegmentationStructured3D (test)
mIoU82.4
21
Semantic SegmentationStructured3D (val)
mIoU85.4
17
Floorplan LocalizationStructured3D (full)
Recall @ 0.1m61
15
Floorplan ReconstructionStructured3D density map input (test)
Room Precision99.6
11
Scene Layout EstimationStructured3D (test)
F1 Score (wall)80.3
10
Floorplan ReconstructionStructured3D binary (test)
Room F199.6
10
Depth EstimationStructured3D (val)
δ1 Accuracy96.79
9
6D camera localizationStructured3D Furnishing-Level: Full
Median Translation Error (<1m)9.17
9
View SynthesisStructured3D Hard Set (1.0 m to 2.0 m) 1.0
PSNR18.95
9
View SynthesisStructured3D Easy Set (0.2 m to 0.3 m) 1.0
PSNR20.83
9
Surface Normal EstimationStructured3D (test)
Mean Angular Error (deg)3.85
8
Perspective 120° FoV image-to-map localizationStructured3D Furnishing-Level: Full
Recall @ 10cm30.88
6
Panorama image-to-map localizationStructured3D Furnishing-Level: Full
Median Terr (<1m) [cm]3.87
6
Monocular Depth EstimationStructured3D
MAE0.0454
6
Semantic SegmentationStructured3D sphere rank 7 256x512 (test)
Accuracy95.8
5
Depth EstimationStructured3D sphere rank 7 256x512 (test)
MAE0.142
5
Floorplan LocalizationStructured3D 69
Acc (0.1m, 5°)95
5
Perspective 90° FoV image-to-map localizationStructured3D Furnishing-Level Full
Median Translational Error (1m) [cm]12.99
4
Perspective 60° FoV image-to-map localizationStructured3D Furnishing-Level: Full
Median terr (<1m) [cm]16.97
4
Monocular Panoramic Depth EstimationStructured3D (official)
MRE (Mean Relative Error)0.0376
4
Semantic SegmentationStructured3D S3D8
mIoU0.7729
3
Floorplan Semantic SegmentationStructured3D 50 (test)
Room Semantic Prec.76.8
2
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