Benchmarks

Task NameDataset NameSOTA ResultTrendResults

Relationship-to-Relationship Scene Retrieval

3RScan (val)

19.15Temporal Recall@1

Cross-Modal Scene Retrieval (Point Cloud to Description)

3RScan

6.71Scene Matching Recall@1

Cross-Modal Scene Retrieval (Image to Description)

3RScan

8.72Scene Matching Recall @1

Cross-Modal Scene Retrieval (Image to Point Cloud)

3RScan

14.01Scene Matching Recall@1

Instance Matching

3RScan 65

60.32Instance Recall (Static)

Overlap check

3RScan (val)

95.41Precision

Point cloud mosaicking

3RScan (143 scenes)

12.13Accuracy

Point Cloud Registration

3RScan (val)

1.57Rotational Error (RRE)

3D Visual Grounding

3RScan (test)

80.4Unique Success Rate

3D Point Cloud Mosaicking

3RScan

20.721Accuracy

3D Semantic Scene Graph Prediction

3RScan 3DSSG Complete 3D data

85Relationship R@50

Scene Graph Generation

3RScan

28.7Recall (Scene Specific)

End-to-end multi-object relocalization and reconstruction

3RScan 65 (test)

49.07MR Recall

Scene Graph Alignment

3RScan Scenario iii (sub-scenes containing changes)

93.4MRR

Scene Graph Alignment

3RScan Scenario ii 3D sub-scene on a rescan (with changes)

94.2MRR

Scene Graph Alignment

3RScan Scenario i (sub-scene on the original scan (no changes))

99.8MRR

3D Scene Graph Alignment

3RScan

96.4R@top-2

Temporal Instance Matching (Point-to-Reference)

3RScan v1 (test)

68.83Recall @ 25%

Temporal Instance Matching (Image-to-Reference)

3RScan v1 (test)

62.33Recall @ 25%

Temporal Instance Matching (Image-to-Point)

3RScan v1 (test)

89.74Recall @ 25% Threshold

Temporal Instance Matching (Point-to-Reference)

3RScan

—Recall @ 25%

Temporal Instance Matching (Image-to-Point)

3RScan

—Recall @ 25%

Temporal Instance Matching (Point-to-Point)

3RScan

—Recall@25%