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3D Instance Segmentation on ScanNet200

63.7mAP@0.5

ESAM

Updated 4d ago

Evaluation Results

Method
ESAM 2026.01	63.7	-	-	42.2	79.6	-	-	-	-
3AM 2026.01	59.7	-	-	47.3	75.3	-	-	-	-
SAM2Object 2026.01	52.7	-	-	34	70.3	-	-	-	-
SegDINO3D 2026.03	52.4	-	-	-	58.6	-	-	-	40.2
SAI3D 2026.01	47.2	-	-	28.2	67.9	-	-	-	-
SegVGGT 2026.03	45.7	-	-	-	53.7	-	-	-	31.9
ODIN 2026.03	45.3	-	-	-	53.1	-	-	-	31.5
Open3DIS 2026.01	43.1	-	-	34.6	48.5	-	-	-	-
OV-3DIS 2026.04	41.4	-	-	-	45.3	34.5	33.1	30.7	32.7
Relation3D 2026.03	41.2	-	-	-	45.6	-	-	-	31.6
OneFormer3D 2026.03	40.9	-	-	-	44.6	-	-	-	30.2
Mask3D 2026.04	39.8	-	-	-	21.7	17.9	-	-	26.9
SGIFormer-L 2026.03	39.4	-	-	-	44.2	-	-	-	29.2
CAMFusion 2026.04	39.3	-	-	-	46.2	31.8	29.1	22.2	27.6
MAFT 2026.03	38.2	-	-	-	43.3	-	-	-	29.2
OV-3DIS 2026.04	37.6	-	-	-	42.8	33	25.3	28.1	29
QueryFormer 2026.03	37.1	-	-	-	43.4	-	-	-	28.1
Mask3D 2026.03	37	-	-	-	42.3	-	-	-	27.4
Mask3D 2023.12	36.2	-	-	26.9	41.4	39.8	17.9	21.7	-
Mask3D 2024.11	36.2	-	-	26.9	41.4	-	-	-	-
SAM3D 2026.01	35.7	-	-	20.2	55.5	-	-	-	-
CAMFusion 2026.04	35	-	-	-	41	27.4	25.6	20.4	24.4
SAMPro3D 2026.01	32.8	-	-	18	56.1	-	-	-	-
ISBNet 2023.12	32.7	-	-	24.5	37.6	38.6	12.5	20.5	-
OV-3DIS 2026.04	32.5	-	-	-	36.2	26.3	28.2	23.2	25.8
OV-3DIS 2026.04	31.8	-	-	-	36.4	27.2	23.1	22.3	24.2
Open-YOLO 3D 2026.03	31.7	-	-	-	36.2	-	-	-	24.7
Open-YOLO3D 2026.04	31.7	-	-	-	36.2	27.8	21.6	24.3	24.7
PE+TR+AvgPool 2026.04	31	-	-	-	37.5	23.4	24.1	18.4	21.8
PE+TR+AvgPool 2026.04	31	-	-	-	37.5	23.4	24.1	18.4	21.8
Ours (Mask3D) 2024.11	30.3	-	-	23.2	33.3	-	-	-	-
Open3DIS 2025.12	29.4	-	-	-	32.8	27.8	21.8	-	-
Open3DIS (2D and 3D) 2023.12	29.4	-	-	23.7	32.8	27.8	21.8	21.2	-
Open3DIS 2024.11	29.4	-	-	23.7	32.8	-	-	-	-
Open3DIS 2026.04	29.4	-	-	-	32.8	27.8	21.8	21.2	23.7
Open-YOLO3D 2026.04	28.3	-	-	-	31.7	25.6	18.5	21	21.9
CLIP only 2022.04	27.91	64.21	27.58	-	-	-	-	-	-
Open3DIS (only 2D) 2023.12	26.1	-	-	18.2	31.4	18.9	19.2	16.5	-
Language-Grounded 3D Pre-training 2022.04	26.09	65.32	27.72	-	-	-	-	-	-
Ours 2024.11	25.8	-	-	14.3	33.6	-	-	-	-
CSC 2022.04	25.24	63.13	25.92	-	-	-	-	-	-
OVIR-3D 2023.12	24.9	-	-	13	32.3	14.4	11.7	12.7	-
Scratch 2022.04	24.47	61.04	25.37	-	-	-	-	-	-
Mask-Clustering 2024.11	23.3	-	-	12	30.1	-	-	-	-
Open3DIS (only 3D) 2023.12	23.1	-	-	18.6	27.3	24.7	13.3	16.9	-
Open3DIS (3D only) 2024.11	23.1	-	-	18.6	27.3	-	-	-	-
OpenMask3D 2023.12	19.9	-	-	15.4	23.1	17.1	14.9	14.1	-
OpenMask3D (Mask3D) 2024.11	19.9	-	-	15.4	23.1	-	-	-	-
OpenMask3D 2026.03	19.9	-	-	-	23.1	-	-	-	15.4
SAI3D 2025.12	18.8	-	-	-	24.1	12.1	16.2	-	-
SAI3D 2024.11	18.8	-	-	12.7	24.1	-	-	-	-
OVIR-3D 2024.11	18.7	-	-	9.3	25	-	-	-	-
Chorus 2025.12	18	-	-	-	19.6	18.5	13	-	-
Mosaic3D 2025.12	16	-	-	-	17.8	21.8	5.4	-	-
OpenScene + Mask3D 2023.12	15.2	-	-	11.7	17.8	13.4	9.9	11.6	-
SAM3D 2024.11	15.2	-	-	9.8	20.7	-	-	-	-
SAM3D 2023.12	14.2	-	-	6.1	21.3	7	4.6	6.2	-
OpenIns3D 2025.12	10.3	-	-	-	14.4	16	4.2	-	-
OpenIns3D 2023.12	10.3	-	-	8.8	14.4	16	4.2	6.5	-
RegionPLC 2025.12	8.6	-	-	-	9.7	15.6	1.7	-	-
OpenScene + DBScan 2023.12	7.8	-	-	2.8	18.6	2.7	2.6	3.1	-
OpenScene-3D 2025.12	6.2	-	-	-	7.2	10.6	0.7	-	-
OneFormer3D 2026.03	4.1	-	-	-	6.4	-	-	-	2.5
OpenYolo3D 2026.04	-	-	-	-	-	43.3	38.5	36.8	39.6
OV-3DIS 2026.04	-	-	-	-	-	33.9	32.5	26.5	30.9
OV-3DIS w/ PE+TR 2026.04	-	-	-	-	-	51.1	50.5	38.9	46.6
AvgPool w/ PE+TR 2026.04	-	-	-	-	-	57.7	58	42.3	52.3
CAMFusion 2026.04	-	-	-	-	-	70.3	65.6	51.2	62.1
OpenYolo3D 2026.04	-	-	-	-	-	43.3	38.5	36.9	39.6
OV-3DIS 2026.04	-	-	-	-	-	30.3	36	25.8	30.3
OV-3DIS w/ PE+TR 2026.04	-	-	-	-	-	43.7	54.5	38.7	45.1
AvgPool w/ PE+TR 2026.04	-	-	-	-	-	51.9	57.9	41.4	50
CAMFusion 2026.04	-	-	-	-	-	60.9	61.3	46.7	56
Any3DIS 2026.04	-	-	-	-	-	27.4	26.4	23.8	25.8
Search3D 2026.04	-	-	-	-	-	26.3	21.4	21.2	23