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ResearchFormerly WizWand

ScanNet

Benchmarks

TaskDatasetSOTA resultTrendResults

Relative pose estimation

ScanNet

17.52Average AUC5 Improvement

4

Same-Modality Scene Retrieval (P -> P)

ScanNet (val)

86.54Scene Category Recall@1

4

SLAM Efficiency Analysis

ScanNet

7.8Tracking Time (ms)

4

Cross-View Loop Closure Detection

ScanNet 30-60° viewpoint difference

29.7Precision

4

Cross-View Loop Closure Detection

ScanNet 0-30° viewpoint difference

84.4Precision

4

ScanNet

7.3Sequence 59 Error

4

3D Scene Reconstruction

ScanNet Source View

25.01MaskCLIP PSNR

4

3D Scene Reconstruction

ScanNet Target View

23.75MaskCLIP PSNR

4

Instance Segmentation

ScanNet200 59 (val)

40.3mAP@0.25

4

Instance Segmentation

ScanNet 14 (val)

78.5mAP@0.25

4

Video Geometric Consistency (Deformation)

ScanNet-Warp WarpBench

87.12AP

4

Semantic Segmentation

ScanNet 20 Classes (test)

62.6mIoU

4

ScanNet 12 scenes (val)

27.37PSNR

4

Novel View Synthesis

ScanNet++ Peripheral Region

28.94PSNR

4

Novel View Synthesis

ScanNet++ (Central Region)

32.64PSNR

4

ScanNet

6.12ATE Mean (cm)

4

ScanNet

19.42Accuracy (cm)

4

ScanNet

0.37Speed FPT (s)

4

Cross-Modal Scene Retrieval (Point Cloud to Text)

ScanNet

57.73Scene Category Recall@1

4

Cross-Modal Scene Retrieval (Image to Text)

ScanNet

57.39Scene Category Recall@1

4

Cross-Modal Scene Retrieval (Image to Point Cloud)

ScanNet

64.74Scene Category Recall@1

4

Same-Modality Scene Retrieval (R -> R)

ScanNet (val)

76.98Scene Category Recall@1

4

Same-Modality Scene Retrieval (I -> I)

ScanNet (val)

93.59Scene Category Recall@1

4

Depth Completion

ScanNet zero-shot

0.101RMSE

4

Novel View Synthesis

Scannet++ equidistant fisheye (test)

29.11PSNR

4