3D Object Detection on EmbodiedScan
34.28AP@0.25Embodied Perceptron (Ours)
Evaluation Results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Embodied Perceptron (Ours)Input=RGB-D2023.12 | 34.28 | 85.03 | 1,261 | 32.25 | 69.47 | 10.01 | 37.29 | 45.17 | 31.67 | 63.27 | 50.63 | 80.39 | |
| FCAF3D + paintingInput=RGB-D2023.12 | 30.19 | 83.93 | 574 | 21.9 | 66.39 | 7.41 | 33.66 | 42.86 | 32.24 | 60.04 | 41.31 | 77.59 | |
| UniSplatInput=RGB2026.04 | 28.69 | 62.24 | 15.34 | 39.57 | — | — | — | — | — | — | — | — | |
| FCAF3D + our decoderInput=Depth2023.12 | 28.16 | 84.5 | 492 | 20.69 | 63.85 | 6.62 | 32.34 | 38.96 | 31.61 | 60.33 | 38.17 | 75.57 | |
| FCAF3DInput=Depth2023.12 | 25.7 | 78.53 | 573 | 20.26 | 65.91 | 6.47 | 26.64 | 34.93 | 22.5 | 53.68 | 26.38 | 71.9 | |
| ImVoteNetInput=RGB-D2023.12 | 19.63 | 34.32 | 388 | 8.82 | 56.72 | 2.88 | 29 | 21.96 | 27.77 | 56.94 | 37.56 | 74.08 | |
| ImVoxelNetInput=RGB2023.12 | 18.95 | 52.74 | 181 | 7.1 | 46.7 | 4.63 | 18.1 | 17.82 | 20.39 | 41.51 | 10.14 | 65.7 | |
| EmbodiedScanInput=RGB-D2026.04 | 16.85 | 51.07 | 9.77 | 28.21 | — | — | — | — | — | — | — | — | |
| VoteNetInput=Depth2023.12 | 14.3 | 31.44 | 168 | 5.14 | 54 | 2.41 | 19.53 | 14.72 | 21.8 | 45.58 | 13.49 | 68.16 | |
| FCAF3DInput=Depth2026.04 | 9.07 | 44.23 | 4.11 | 20.22 | — | — | — | — | — | — | — | — | |
| FCOS3DInput=RGB2023.12 | 8.93 | 27.96 | 91 | 5 | 27.15 | 1.14 | 6.21 | 10.23 | 9.47 | 18.38 | 6.31 | 40.51 | |
| ImVoxelNetInput=RGB2026.04 | 6.15 | 20.39 | 2.41 | 6.31 | — | — | — | — | — | — | — | — | |
| VoteNetInput=Depth2026.04 | 3.2 | 6.11 | 0.38 | 1.22 | — | — | — | — | — | — | — | — |