3D Semantic Segmentation on ScanNet200 (70 Classes Metrics + Efficiency)
34.75mIoU (70 classes)EmbodiedSplat
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| EmbodiedSplatSearch Domain=3D, Per-Scene / Generalizable=Generalizable, Online / Offline=Online, Input Modality=RGB-D2026.03 | 34.75 | 52.36 | 8 | 0.75 | |
| EmbodiedSplat-fastSearch Domain=3D, Per-Scene / Generalizable=Generalizable, Online / Offline=Online, Input Modality=RGB-D2026.03 | 32.43 | 58.14 | 1 | 5.18 | |
| EmbodiedSplatSearch Domain=3D, Per-Scene / Generalizable=Generalizable, Online / Offline=Online, Input Modality=RGB2026.03 | 31.16 | 48.38 | 8 | 0.75 | |
| EmbodiedSplat-fastSearch Domain=3D, Per-Scene / Generalizable=Generalizable, Online / Offline=Online, Input Modality=RGB2026.03 | 30.46 | 55.31 | 1 | 5.18 | |
| InstanceGaussianSearch Domain=3D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 23.2 | 38.32 | 3 | — | |
| Occam’s LGSSearch Domain=3D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 20.32 | 40.49 | 2 | — | |
| Dr. SplatSearch Domain=3D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 19.29 | 33.84 | 2 | — | |
| OpenGaussianSearch Domain=3D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 15.15 | 25.66 | 2.5 | — | |
| Online-LangSplatSearch Domain=2D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Online2026.03 | 2.45 | 4.12 | 5.4 | 1.12 | |
| LEGaussiansSearch Domain=2D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 1.39 | 5.45 | 6 | — | |
| LangSplatSearch Domain=2D, Per-Scene / Generalizable=Per-Scene, Online / Offline=Offline2026.03 | 0.72 | 4.39 | 6 | — |