3D Scene Graph Generation on 3DSSG (test)
53.2Recall (Rel)NoPA
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| NoPAn=2562026.07 | 53.2 | 69 | 61.4 | 66.4 | 29.4 | 27 | 1,206 | |
| DeWorldSGInput Modality=RGB-D2026.07 | 50.2 | 75 | 57.3 | 70.6 | 36 | — | — | |
| NoPAn=1282026.07 | 49.9 | 68.5 | 58.5 | 65.7 | 30.2 | 26 | 1,206 | |
| PUF-GaussianInput Modality=RGB-D, Latency (ms)=152026.07 | 46 | 69.7 | 51.4 | 65.8 | 28.2 | — | — | |
| PUF-VoxelInput Modality=RGB-D, Latency (ms)=312026.07 | 40.3 | 65.5 | 46.1 | 64.1 | 21.8 | — | — | |
| FROSSreported_in_original_paper=true2026.07 | 27.9 | 62.4 | 33 | 63.8 | 18 | 7 | — | |
| FROSSInput Modality=RGB-D2026.07 | 27.9 | 62.4 | 33 | 63.8 | 18 | — | — | |
| FROSSInput Modality=RGB-D, Latency (ms)=132026.07 | 27.9 | 62.5 | 33.2 | 63.8 | 18.1 | — | — | |
| FROSSreproduced=true2026.07 | 25.7 | 60.6 | 30.7 | 62.4 | 17.7 | 22 | 1,204 | |
| SCRSSGInput Modality=RGB-D+SLAM, Latency (ms)=3502026.07 | 25.7 | 61.1 | 27.6 | 60.5 | 27.8 | — | — | |
| JointSSGreported_in_original_paper=true2026.07 | 25.5 | 58.1 | 27.3 | 43 | 33.3 | 191 | — | |
| OCRLInput Modality=Point Cloud2026.07 | 25.2 | 58.5 | 30.1 | 49.6 | 27.1 | — | — | |
| VL-SATInput Modality=Point Cloud2026.07 | 23.5 | 53.7 | 28.9 | 42.1 | 25.3 | — | — | |
| JointSSGreproduced=true2026.07 | 23.4 | 55.4 | 27 | 45.4 | 35.3 | 284 | 3,252 | |
| MonoSSGInput Modality=RGB-D2026.07 | 23.3 | 53.8 | 28.4 | 43.8 | 26.6 | — | — | |
| MonoSSGInput Modality=RGB-D+SLAM, Latency (ms)=2832026.07 | 23.3 | 53.8 | 28.4 | 43.8 | 26.6 | — | — | |
| SGFNInput Modality=RGB-D2026.07 | 22 | 51.6 | 27.5 | 37.7 | 24 | — | — | |
| SGFNInput Modality=RGB-D+SLAM, Latency (ms)=2452026.07 | 22 | 51.6 | 27.5 | 37.7 | 24 | — | — | |
| IMPInput Modality=RGB-D2026.07 | 19.7 | 49.5 | 20.9 | 34.7 | 13.8 | — | — | |
| IMPInput Modality=RGB-D2026.07 | 19.7 | 49.5 | 20.9 | 34.7 | 13.8 | — | — | |
| VGFMInput Modality=RGB2026.07 | 19.6 | 50 | 20.4 | 34.8 | 11 | — | — | |
| VGfMInput Modality=RGB, Latency (ms)=3792026.07 | 19.6 | 50 | 20.4 | 34.8 | 11 | — | — | |
| 3DSSGInput Modality=Point Cloud2026.07 | 12.9 | 37.4 | 22 | 26.2 | 14.4 | — | — | |
| 3DSSGInput Modality=Point Cloud2026.07 | 12.9 | 37.4 | 22 | 26.2 | 14.4 | — | — | |
| Kimreported_in_original_paper=true2026.07 | 9.1 | 59 | 7.1 | 51 | 8 | 310 | — | |
| KimInput Modality=RGB-D2026.07 | 9.1 | 59 | 7.1 | 51 | 8 | — | — | |
| Kim et al.Input Modality=RGB-D, Latency (ms)=4542026.07 | 9.1 | 59 | 7.1 | 51 | 8 | — | — | |
| Kimreproduced=true2026.07 | 0.9 | 52.1 | 1.1 | 44.2 | 0.4 | 488 | 1,204 |