3D Semantic Segmentation on ScanNet 15 classes
55.18mIoUEmbodiedSplat (FastSAM + OpenSeg)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| EmbodiedSplat (FastSAM + OpenSeg)Inputs=RGB-D, Online / Offline=Online2026.03 | 55.18 | 80.27 | |
| OpenSceneInputs=Point Cloud, RGB-D, Online / Offline=Offline2026.03 | 53.74 | 79.85 | |
| EmbodiedSplat (FastSAM + LSeg)Inputs=RGB, Online / Offline=Online2026.03 | 51.84 | 68.78 | |
| EmbodiedSAMInputs=RGB-D, Online / Offline=Online2026.03 | 50.98 | 77.81 | |
| EmbodiedSplat (FastSAM + OpenSeg)Inputs=RGB, Online / Offline=Online2026.03 | 49.23 | 75.47 | |
| ReLaGSTraining-Free=true2026.03 | 40.04 | 60.59 | |
| THGSTraining-Free=true2026.03 | 39.61 | 57.07 | |
| EmbodiedSplat (SAM + CLIP)Inputs=RGB, Online / Offline=Online2026.03 | 37.9 | 66.82 | |
| LAGATraining-Free=false2026.03 | 35.5 | 53.5 | |
| VALATraining-Free=true2026.03 | 35.1 | 54.77 | |
| Occam’s LGSInputs=RGB, Online / Offline=Offline2026.03 | 35.04 | 63.71 | |
| Occam’sTraining-Free=true2026.03 | 34.25 | 53.71 | |
| LUDVIGInputs=RGB, Online / Offline=Offline2026.03 | 33.73 | 62.9 | |
| Dr. SplatInputs=RGB, Online / Offline=Offline2026.03 | 31.84 | 60.58 | |
| CF3Inputs=RGB, Online / Offline=Offline2026.03 | 30.13 | 59.13 | |
| OpenGau.Training-Free=false2026.03 | 30.13 | 48.25 | |
| LangSplatTraining-Free=false2026.03 | 5.35 | 13.2 |