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Structured3D

Benchmarks

Task NameDataset NameSOTA ResultTrend
Semantic SegmentationStructured3D (val)
mIoU85.4
49
Semantic SegmentationStructured3D (test)
mIoU82.4
34
Floorplan LocalizationStructured3D (full)
Recall @ 0.1m61
15
Depth EstimationStructured3D Indoor
Abs Rel Error2.73
12
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
Text-to-Panorama GenerationStructured3D
CLIP Score32.48
7
Omnidirectional completionStructured3D Indoor (held-out)
FID54.18
6
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
Image-to-3D generationStructured3D (test)
Q-Align3.0629
4
3D Scene GenerationStructured3D (novel views)
IS2.27
4
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
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