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Structured3D

Benchmarks

Task NameDataset NameSOTA ResultTrend
Semantic SegmentationStructured3D (val)
mIoU85.4
49
Semantic SegmentationStructured3D (test)
mIoU82.4
34
Surface Normal EstimationStructured3D (test)
Mean Angular Error (deg)3.85
16
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
3D Object DetectionStructured3D v1 (test)
Bed AP71.57
8
3D Object DetectionStructured3D (test)
AP@2543.21
8
Text-to-Panorama GenerationStructured3D
CLIP Score32.48
7
Omnidirectional Normal EstimationStructured3D
MAE3.83
6
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
Single-view indoor localizationStructured3D 53
Positional Recall @ 0.1m5.3
4
Image-to-3D generationStructured3D (test)
Q-Align3.0629
4
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