3D Semantic Mapping on Replica
53.55mAccFindAnything
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| FindAnythingPose Source=GT, VL Encoder=NARADIO2025.04 | 53.55 | 66.91 | — | — | — | — | — | — | — | |
| RayFrontsPose Source=GT, VL Encoder=NARADIO2025.04 | 52.9 | 64.97 | — | — | — | — | — | — | — | |
| FindAnythingPose Source=GT2025.04 | 48.87 | 62.71 | — | — | — | — | — | — | — | |
| FindAnythingPose Source=SLAM2025.04 | 48.8 | 62.91 | — | — | — | — | — | — | — | |
| FindAnything-MonolithicPose Source=SLAM, Map Architecture=Monolithic2025.04 | 47.57 | 61.37 | — | — | — | — | — | — | — | |
| Omni-MapOnline=true, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 44.54 | 64.42 | 29.06 | 72.22 | — | — | — | — | — | |
| Omni-MapOnline=true, Zero-shot=true2026.06 | 44.54 | 64.42 | 29.06 | 72.22 | — | — | — | — | — | |
| FindAnythingPose Source=GT, Processing Frequency=Every 10th frame2025.04 | 44.48 | 62.01 | — | — | — | — | — | — | — | |
| OVO-SLAMOnline=true, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 43.6 | 57 | 29.93 | 65.39 | — | — | — | — | — | |
| HoloAgent-MemoryOnline=true, Zero-shot=true2026.06 | 43.6 | 57 | 29.93 | 65.39 | — | — | — | — | — | |
| Octree-GraphPose Source=GT, VL Encoder=OVSeg2025.04 | 41.4 | 55.3 | — | — | — | — | — | — | — | |
| ConceptGraphsPose Source=GT2025.04 | 40.63 | 35.95 | — | — | — | — | — | — | — | |
| IRIS-mappingOnline=true, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 40.63 | 60 | 31.15 | 72.3 | — | — | — | — | — | |
| HOV-SGOnline=false, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 39.59 | 48.86 | 23.79 | 55.15 | — | — | — | — | — | |
| HOV-SGOnline=false, Zero-shot=true2026.06 | 39.59 | 48.86 | 23.79 | 55.15 | — | — | — | — | — | |
| Clio-batchPose Source=GT2025.04 | 37.95 | 36.98 | — | — | — | — | — | — | — | |
| Open-FusionOnline=true, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 35.15 | 51.65 | 16.37 | 60.37 | — | — | — | — | — | |
| Open-FusionOnline=true, Zero-shot=true2026.06 | 35.15 | 51.65 | 16.37 | 60.37 | — | — | — | — | — | |
| OVO-SLAMPose Source=GT, Processing Frequency=Every 10th frame2025.04 | 32.18 | 46.19 | — | — | — | — | — | — | — | |
| ConceptFusionPose Source=GT, Segmentation Enhancement=SAM2025.04 | 31.53 | 38.7 | — | — | — | — | — | — | — | |
| Concept-GraphOnline=true, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 31.51 | 35.69 | 16.46 | 42.44 | — | — | — | — | — | |
| Concept-GraphOnline=true, Zero-shot=true2026.06 | 31.51 | 35.69 | 16.46 | 42.44 | — | — | — | — | — | |
| HOV-SGPose Source=GT, VL Encoder=Vit-H-142025.04 | 30.4 | 38.6 | — | — | — | — | — | — | — | |
| IRIS-SLAMOnline=true, Pose/Depth=Est/Est, Zero-shot=true2026.02 | 29.43 | 50.28 | 20.22 | 65 | — | — | — | — | — | |
| RayFrontsPose Source=GT, VL Encoder=NACLIP2025.04 | 26.44 | 32.66 | — | — | — | — | — | — | — | |
| ConceptFusionPose Source=GT2025.04 | 24.16 | 31.31 | — | — | — | — | — | — | — | |
| Grasp-SplatsOnline=true, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 23.79 | 42.67 | 10.42 | 52.39 | — | — | — | — | — | |
| Grasp-SplatsOnline=true, Zero-shot=true2026.06 | 23.79 | 42.67 | 10.42 | 52.39 | — | — | — | — | — | |
| Lang-SplatOnline=false, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 22.93 | 39.69 | 10 | 44.16 | — | — | — | — | — | |
| Lang-SplatOnline=false, Zero-shot=true2026.06 | 22.93 | 39.69 | 10 | 44.16 | — | — | — | — | — | |
| Concept-FusionOnline=true, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 19.29 | 25.3 | 4.75 | 28.99 | — | — | — | — | — | |
| Concept-FusionOnline=true, Zero-shot=true2026.06 | 19.29 | 25.3 | 4.75 | 28.99 | — | — | — | — | — | |
| Open-GaussianOnline=false, Pose/Depth=GT/GT, Zero-shot=true2026.02 | 16.66 | 15.41 | 6.82 | 18.08 | — | — | — | — | — | |
| Open-GaussianOnline=false, Zero-shot=true2026.06 | 16.66 | 15.41 | 6.82 | 18.08 | — | — | — | — | — | |
| DNS SLAM2026.03 | — | — | — | — | 88.32 | 84.9 | 81.2 | 84.66 | 84.77 | |
| GS3LAM2026.03 | — | — | — | — | 96.83 | 96.68 | 96.4 | 96.61 | 96.63 | |
| NIDS SLAM2026.03 | — | — | — | — | 82.45 | 84.08 | 76.99 | 85.94 | 82.37 | |
| SNI-SLAM2026.03 | — | — | — | — | 88.42 | 87.43 | 86.16 | 87.63 | 87.41 |