3D Semantic Segmentation on Replica
54.983D mIoUPanoGS
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| PanoGSOnline=false, Pano.=true2026.03 | 54.98 | 67.35 | — | — | — | |
| OpenSceneOnline=false, Pano.=false2026.03 | 49.03 | 62.89 | — | — | — | |
| OnlinePGOnline=true, Pano.=true2026.03 | 47.93 | 54.94 | — | — | — | |
| GNeSF2023.10 | 43.8 | — | — | — | — | |
| OnlineAnySegOnline=true, Pano.=true2026.03 | 37.48 | 45.64 | — | — | — | |
| ThinkGraphsOpen-vocabulary=true2026.06 | 37 | 58 | 61 | — | — | |
| Octree-GraphOpen-vocabulary=true2026.06 | 34 | 51 | 34 | — | — | |
| RADSeg+3D Aggregation Type=Probability Space2025.11 | 33.05 | — | 59.21 | — | — | |
| PhysGraphMode=Zero-shot2026.06 | 32.74 | 48.6 | — | 60.51 | 68.93 | |
| RADSeg3D Aggregation Type=Probability Space2025.11 | 32.68 | — | 57.02 | — | — | |
| FUS3DMaps w. NARADIO (M^I_fused, Sliding Window)class-agnostic=true, setup=NARADIO, mode=Sliding Window2026.05 | 32.37 | 65.19 | 56.48 | — | — | |
| RADSeg3D Aggregation Type=Feature Space2025.11 | 32.29 | — | 58.96 | — | — | |
| OursCLIP Backbone=OVSeg, Zero-shot=true2024.11 | 32 | 41.4 | 55.3 | — | — | |
| FUS3DMaps w. NARADIO (M^I_fused)class-agnostic=true, setup=NARADIO2026.05 | 31.37 | 65.22 | 56.27 | — | — | |
| RayFronts3D Aggregation Type=Probability Space2025.11 | 31.28 | — | 53.28 | — | — | |
| OmnimapMode=Zero-shot2026.06 | 29.06 | 44.14 | — | 64.42 | 72.22 | |
| RayFronts3D Aggregation Type=Feature Space2025.11 | 28.39 | — | 52.05 | — | — | |
| TextRegion3D Aggregation Type=Probability Space2025.11 | 28.35 | — | 50.9 | — | — | |
| Trident (w/refine)3D Aggregation Type=Probability Space2025.11 | 27.38 | — | 49.81 | — | — | |
| TextRegion3D Aggregation Type=Feature Space2025.11 | 27.15 | — | 50.5 | — | — | |
| OVI-MAPOnline=true, Frame rate=30 fps2026.03 | 27 | 32.5 | — | — | — | |
| BBQ-CLIPOpen-vocabulary=true2026.06 | 27 | 38 | 48 | — | — | |
| OVI-MAPOnline=true2026.03 | 26.5 | 32.2 | — | — | — | |
| OursCLIP Backbone=Vit-H-14, Zero-shot=true2024.11 | 26.3 | 38.7 | 47.9 | — | — | |
| NeuralRecon2023.10 | 26.2 | — | — | — | — | |
| OpenVoxOpen-vocabulary=true2026.06 | 26 | 51 | 40 | — | — | |
| Trident3D Aggregation Type=Probability Space2025.11 | 25.44 | — | 47.48 | — | — | |
| Atlas2023.10 | 25.4 | — | — | — | — | |
| OVO-SLAMOnline=true2026.03 | 24.9 | 34 | — | — | — | |
| O2V-MappingOnline=true, Pano.=false2026.03 | 24.35 | 33.62 | — | — | — | |
| OpenVoxclass-agnostic=false2026.05 | 24.27 | 59.95 | 53.61 | — | — | |
| Talk2Dino3D Aggregation Type=Probability Space2025.11 | 23.94 | — | 36.86 | — | — | |
| Trident3D Aggregation Type=Feature Space2025.11 | 23.62 | — | 47.18 | — | — | |
| Talk2Dino3D Aggregation Type=Feature Space2025.11 | 23.12 | — | 35.07 | — | — | |
| HOV-SGCLIP Backbone=Vit-H-14, Zero-shot=true2024.11 | 23.1 | 30.4 | 38.6 | — | — | |
| SC-CLIP3D Aggregation Type=Probability Space2025.11 | 21.98 | — | 44.31 | — | — | |
| OVO-SLAMOnline=true, Frame rate=30 fps2026.03 | 21.8 | 27.5 | — | — | — | |
| SC-CLIP3D Aggregation Type=Feature Space2025.11 | 21.33 | — | 43.57 | — | — | |
| OpenSceneOnline=false2026.03 | 19.8 | 33.9 | — | — | — | |
| OpenNeRFOnline=false2026.03 | 19.2 | 30.9 | — | — | — | |
| Mask3D+OM3DOnline=false2026.03 | 18.7 | 29.4 | — | — | — | |
| Open-Fusionclass-agnostic=true2026.05 | 18.48 | 48.87 | 43.64 | — | — | |
| ConceptGraphCLIP Backbone=Vit-H-14, Zero-shot=true2024.11 | 18 | 30 | 23 | — | — | |
| ConceptGraphsOpen-vocabulary=true2026.06 | 18 | 36 | 15 | — | — | |
| Segment3D+OM3DOnline=false2026.03 | 17.3 | 30.9 | — | — | — | |
| HOV-SGclass-agnostic=true2026.05 | 16.93 | 34.74 | 31.45 | — | — | |
| Concept GraphMode=Zero-shot2026.06 | 16.46 | 31.51 | — | 35.69 | 42.44 | |
| Open FusionMode=Zero-shot2026.06 | 16.37 | 35.15 | — | 51.65 | 60.37 | |
| Semantic GaussianOnline=false2026.03 | 16.1 | 22.1 | — | — | — | |
| OpenFusionOnline=true2026.03 | 14.9 | 22.4 | — | — | — | |
| HOV-SGCLIP Backbone=OVSeg, Zero-shot=true2024.11 | 14.4 | 21.2 | 25.5 | — | — | |
| ConceptGraphCLIP Backbone=OVSeg, Zero-shot=true2024.11 | 13 | 21 | 27 | — | — | |
| ConceptGraphsclass-agnostic=true2026.05 | 11.63 | 19.8 | 16.61 | — | — | |
| ConceptFusionOpen-vocabulary=true2026.06 | 11 | 29 | 14 | — | — | |
| Grasp SplatsMode=Zero-shot2026.06 | 10.42 | 23.79 | — | 42.67 | 52.39 | |
| ConceptFusionCLIP Backbone=OVSeg, Zero-shot=true2024.11 | 10 | 16 | 21 | — | — | |
| ConceptFusionCLIP Backbone=Vit-H-14, Zero-shot=true2024.11 | 10 | 17 | 18 | — | — | |
| Lang SplatMode=Zero-shot2026.06 | 10 | 22.93 | — | 39.69 | 44.16 | |
| Open GaussianMode=Zero-shot2026.06 | 6.82 | 16.66 | — | 15.41 | 18.08 | |
| LangSplatOnline=false, Pano.=false2026.03 | 4.82 | 10.03 | — | — | — | |
| Concept FusionMode=Zero-shot2026.06 | 4.75 | 19.29 | — | 25.3 | 28.99 |