3D Semantic Segmentation on ScanNet (Multi-Class Evaluation)
47.78mIoU (10 classes)LightSplat
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| LightSplatFD Time=4.1 s, Runtime (second)=0.002, Memory (byte)=22026.03 | 47.78 | 68.21 | 39.78 | 60.91 | 37.11 | 58.66 | — | — | |
| Dr.SplatFD Time=3 min, Memory (byte)=1282026.03 | 47.2 | 68.9 | 38.2 | 60.4 | 28 | 44.6 | — | — | |
| OpenGaussianFD Time=30 min, Runtime (second)=0.003, Memory (byte)=242026.03 | 41.29 | 56.42 | 32.61 | 48.26 | 29.43 | 43.62 | — | — | |
| LUDVIGFD Time=4 min, Runtime (second)=0.006, Memory (byte)=20482026.03 | 40.47 | 58.15 | 31.47 | 48.54 | 28.47 | 44.17 | — | — | |
| LEGaussiansFD Time=50 min, Runtime (second)=1.7, Memory (byte)=322026.03 | 9.84 | 19.13 | 5.72 | 14.23 | 1.62 | 7.26 | — | — | |
| LangSplatFD Time=40 min, Runtime (second)=2.1, Memory (byte)=362026.03 | 6.3 | 20.48 | 4.08 | 13.22 | 2.61 | 10.11 | — | — | |
| EmbodiedSplatSearch Domain=3D, Per-Scene / Generalizable=Generalizable, Online / Offline=Online, Input Modality=RGB-D2026.03 | 0.5741 | 0.8245 | 0.5518 | 0.8027 | 0.5212 | 0.7566 | 8 | 0.75 | |
| EmbodiedSplat-fastSearch Domain=3D, Per-Scene / Generalizable=Generalizable, Online / Offline=Online, Input Modality=RGB-D2026.03 | 0.5105 | 0.8015 | 0.4692 | 0.7715 | 0.4389 | 0.7273 | 1 | 5.18 | |
| EmbodiedSplatSearch Domain=3D, Per-Scene / Generalizable=Generalizable, Online / Offline=Online, Input Modality=RGB2026.03 | 0.4981 | 0.7613 | 0.4923 | 0.7547 | 0.4622 | 0.7037 | 8 | 0.75 | |
| EmbodiedSplat-fastSearch Domain=3D, Per-Scene / Generalizable=Generalizable, Online / Offline=Online, Input Modality=RGB2026.03 | 0.4786 | 0.7762 | 0.4321 | 0.7385 | 0.4103 | 0.7012 | 1 | 5.18 | |
| Occam’s LGSSearch Domain=3D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 0.4214 | 0.7028 | 0.3504 | 0.6371 | 0.3049 | 0.5791 | 2 | — | |
| Dr. SplatSearch Domain=3D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 0.3921 | 0.6666 | 0.3184 | 0.6058 | 0.2838 | 0.5585 | 2 | — | |
| InstanceGaussianSearch Domain=3D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 0.2977 | 0.5232 | 0.2879 | 0.5007 | 0.2657 | 0.4863 | 3 | — | |
| OpenGaussianSearch Domain=3D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 0.295 | 0.4461 | 0.2374 | 0.3914 | 0.2252 | 0.3502 | 2.5 | — | |
| Online-LangSplatSearch Domain=2D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Online2026.03 | 0.0713 | 0.2156 | 0.0389 | 0.1452 | 0.0345 | 0.0897 | 5.4 | 1.12 | |
| LEGaussiansSearch Domain=2D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 0.0679 | 0.1813 | 0.0413 | 0.1549 | 0.0253 | 0.0567 | 6 | — | |
| LangSplatSearch Domain=2D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 0.0652 | 0.2011 | 0.0325 | 0.1316 | 0.0134 | 0.0744 | 6 | — |