Anomaly Detection on MVTec 3D-AD 1.0 (test)
0.989Mean ScoreGPAD
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GPADInput Modality=RGB+3D2026.03 | 0.989 | 0.998 | 0.968 | 0.988 | 0.999 | 0.998 | 0.987 | 0.999 | 0.981 | 1 | 0.972 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DSRModality=3D+RGB2023.11 | 0.978 | 0.981 | 0.867 | 0.996 | 0.981 | 1 | 0.994 | 0.986 | 0.978 | 1 | 0.995 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DSRInput Modality=RGB+3D2026.03 | 0.978 | 0.981 | 0.867 | 0.996 | 0.981 | 1 | 0.994 | 0.986 | 0.978 | 1 | 0.995 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2M3DFInput Modality=RGB+3D2026.03 | 0.966 | 0.992 | 0.969 | 0.988 | 0.985 | 0.981 | 0.947 | 0.979 | 0.942 | 0.976 | 0.898 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DM-NRInput Modality=RGB+3D2026.03 | 0.965 | 0.974 | 0.971 | 0.978 | 0.945 | 0.938 | 0.947 | 0.978 | 0.971 | 0.972 | 0.974 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OursModality=3D only2025.05 | 0.954 | 0.99 | 0.922 | 0.979 | 0.97 | 0.841 | 0.952 | 0.983 | 0.982 | 0.951 | 0.954 | — | — | — | — | — | — | 1.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFMInput Modality=RGB+3D2026.03 | 0.954 | 0.994 | 0.888 | 0.984 | 0.993 | 0.98 | 0.888 | 0.941 | 0.943 | 0.98 | 0.953 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GPADInput Modality=3D2026.03 | 0.952 | 0.982 | 0.892 | 1 | 0.962 | 0.84 | 0.928 | 0.998 | 0.975 | 0.995 | 0.952 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CPMFModality=3D only2025.05 | 0.951 | 0.983 | 0.889 | 0.991 | 0.958 | 0.809 | 0.988 | 0.959 | 0.979 | 0.969 | 0.951 | — | — | — | — | — | — | 2.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Shape-GuidedInput Modality=RGB+3D2026.03 | 0.947 | 0.986 | 0.894 | 0.983 | 0.991 | 0.976 | 0.857 | 0.99 | 0.965 | 0.96 | 0.869 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MC4AD2025.05 | 0.946 | 0.976 | 0.931 | 0.983 | 0.928 | 0.908 | 0.784 | 0.985 | 0.991 | 0.984 | 0.988 | — | — | — | — | — | — | 1.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MC4AD2025.05 | 0.946 | 0.976 | 0.931 | 0.983 | 0.928 | 0.908 | 0.784 | 0.985 | 0.991 | 0.984 | 0.988 | — | — | — | — | — | — | 1.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DMModality=3D+RGB2023.11 | 0.945 | 0.994 | 0.909 | 0.972 | 0.976 | 0.96 | 0.942 | 0.973 | 0.899 | 0.972 | 0.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DMInput Modality=RGB+3D2026.03 | 0.945 | 0.994 | 0.909 | 0.972 | 0.976 | 0.96 | 0.942 | 0.973 | 0.899 | 0.972 | 0.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ASTModality=3D + RGB2022.10 | 0.937 | 0.983 | 0.873 | 0.976 | 0.971 | 0.932 | 0.885 | 0.974 | 0.981 | 1 | 0.797 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ASTModality=3D+RGB2023.11 | 0.937 | 0.983 | 0.873 | 0.976 | 0.971 | 0.932 | 0.885 | 0.974 | 0.981 | 1 | 0.797 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LSFA2025.05 | 0.934 | 0.974 | 0.887 | 0.981 | 0.921 | 0.901 | 0.773 | 0.982 | 0.983 | 0.959 | 0.981 | — | — | — | — | — | — | 2.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LSFA2025.05 | 0.934 | 0.974 | 0.887 | 0.981 | 0.921 | 0.901 | 0.773 | 0.982 | 0.983 | 0.959 | 0.981 | — | — | — | — | — | — | 2.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Shape-Guided2025.05 | 0.931 | 0.974 | 0.871 | 0.981 | 0.924 | 0.898 | 0.773 | 0.978 | 0.983 | 0.955 | 0.969 | — | — | — | — | — | — | 3.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Shape-Guided2025.05 | 0.931 | 0.974 | 0.871 | 0.981 | 0.924 | 0.898 | 0.773 | 0.978 | 0.983 | 0.955 | 0.969 | — | — | — | — | — | — | 3.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CPMF2025.05 | 0.929 | 0.958 | 0.946 | 0.979 | 0.868 | 0.897 | 0.746 | 0.98 | 0.981 | 0.961 | 0.977 | — | — | — | — | — | — | 4.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CPMF2025.05 | 0.929 | 0.958 | 0.946 | 0.979 | 0.868 | 0.897 | 0.746 | 0.98 | 0.981 | 0.961 | 0.977 | — | — | — | — | — | — | 4.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EasyNetInput Modality=RGB+3D2026.03 | 0.926 | 0.991 | 0.998 | 0.918 | 0.968 | 0.945 | 0.945 | 0.905 | 0.807 | 0.994 | 0.793 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BTF2025.05 | 0.924 | 0.973 | 0.879 | 0.982 | 0.906 | 0.892 | 0.735 | 0.977 | 0.982 | 0.956 | 0.961 | — | — | — | — | — | — | 4.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BTF2025.05 | 0.924 | 0.973 | 0.879 | 0.982 | 0.906 | 0.892 | 0.735 | 0.977 | 0.982 | 0.956 | 0.961 | — | — | — | — | — | — | 4.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GPADInput Modality=RGB2026.03 | 0.923 | 0.931 | 0.875 | 0.953 | 0.882 | 0.975 | 0.862 | 0.976 | 0.863 | 0.985 | 0.932 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DSRModality=3D2023.11 | 0.922 | 0.945 | 0.835 | 0.969 | 0.857 | 0.955 | 0.88 | 0.963 | 0.934 | 0.998 | 0.888 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DSRInput Modality=3D2026.03 | 0.922 | 0.945 | 0.835 | 0.969 | 0.857 | 0.955 | 0.88 | 0.963 | 0.934 | 0.998 | 0.888 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Shape-GuidedInput Modality=3D2026.03 | 0.916 | 0.983 | 0.682 | 0.978 | 0.998 | 0.96 | 0.737 | 0.993 | 0.979 | 0.966 | 0.871 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Shape-GuidedModality=3D only2025.05 | 0.915 | 0.983 | 0.682 | 0.998 | 0.96 | 0.737 | 0.993 | 0.979 | 0.966 | 0.871 | 0.915 | — | — | — | — | — | — | 2.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DSR2025.05 | 0.907 | 0.922 | 0.872 | 0.984 | 0.859 | 0.94 | 0.714 | 0.97 | 0.978 | 0.977 | 0.958 | — | — | — | — | — | — | 5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DM2025.05 | 0.906 | 0.943 | 0.818 | 0.977 | 0.882 | 0.881 | 0.743 | 0.958 | 0.974 | 0.95 | 0.929 | — | — | — | — | — | — | 6.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DM2025.05 | 0.906 | 0.943 | 0.818 | 0.977 | 0.882 | 0.881 | 0.743 | 0.958 | 0.974 | 0.95 | 0.929 | — | — | — | — | — | — | 6.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EasyNetInput Modality=RGB2026.03 | 0.904 | 0.982 | 0.992 | 0.917 | 0.953 | 0.919 | 0.923 | 0.84 | 0.785 | 0.986 | 0.742 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MMRD2025.05 | 0.901 | 0.926 | 0.806 | 0.965 | 0.858 | 0.904 | 0.731 | 0.962 | 0.958 | 0.966 | 0.936 | — | — | — | — | — | — | 6.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DSRModality=RGB2023.11 | 0.898 | 0.844 | 0.93 | 0.964 | 0.794 | 0.998 | 0.904 | 0.938 | 0.73 | 0.978 | 0.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DSRInput Modality=RGB2026.03 | 0.898 | 0.844 | 0.93 | 0.964 | 0.794 | 0.998 | 0.904 | 0.938 | 0.73 | 0.978 | 0.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFMInput Modality=RGB2026.03 | 0.895 | 0.937 | 0.864 | 0.984 | 0.951 | 0.984 | 0.789 | 0.915 | 0.736 | 0.968 | 0.825 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Group3ADmemory_size=100002024.08 | 0.889 | 0.989 | 0.722 | 0.976 | 0.951 | 0.852 | 0.769 | 0.91 | 0.91 | 0.909 | 0.864 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFMInput Modality=3D2026.03 | 0.885 | 0.948 | 0.77 | 0.968 | 0.981 | 0.937 | 0.893 | 0.694 | 0.909 | 0.939 | 0.812 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ASTModality=RGB2022.10 | 0.88 | 0.947 | 0.928 | 0.851 | 0.825 | 0.981 | 0.951 | 0.895 | 0.613 | 0.992 | 0.821 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ASTModality=RGB2023.11 | 0.88 | 0.947 | 0.928 | 0.851 | 0.825 | 0.981 | 0.951 | 0.895 | 0.613 | 0.992 | 0.821 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DMModality=3D2023.11 | 0.874 | 0.941 | 0.651 | 0.965 | 0.969 | 0.905 | 0.76 | 0.88 | 0.974 | 0.926 | 0.765 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DMModality=3D only2025.05 | 0.874 | 0.941 | 0.651 | 0.969 | 0.905 | 0.76 | 0.88 | 0.974 | 0.926 | 0.765 | 0.874 | — | — | — | — | — | — | 4.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DMInput Modality=3D2026.03 | 0.874 | 0.941 | 0.651 | 0.965 | 0.969 | 0.905 | 0.76 | 0.88 | 0.974 | 0.926 | 0.765 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BTF2022.03 | 0.873 | 0.938 | 0.765 | 0.972 | 0.888 | 0.96 | 0.664 | 0.904 | 0.929 | 0.982 | 0.726 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DMBackbone=PointMAE2024.08 | 0.868 | 0.985 | 0.673 | 0.958 | 0.949 | 0.843 | 0.756 | 0.86 | 0.925 | 0.899 | 0.834 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PatchCore+FPFHModality=3D + RGB2022.10 | 0.865 | 0.918 | 0.748 | 0.967 | 0.883 | 0.932 | 0.582 | 0.896 | 0.912 | 0.921 | 0.886 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PatchCore+FPFHModality=3D+RGB2023.11 | 0.865 | 0.918 | 0.748 | 0.967 | 0.883 | 0.932 | 0.582 | 0.896 | 0.912 | 0.921 | 0.886 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PatchCore+FPFHInput Modality=RGB+3D2026.03 | 0.865 | 0.918 | 0.748 | 0.967 | 0.883 | 0.932 | 0.582 | 0.896 | 0.912 | 0.921 | 0.886 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DMModality=RGB2023.11 | 0.85 | 0.944 | 0.918 | 0.896 | 0.749 | 0.959 | 0.767 | 0.919 | 0.648 | 0.938 | 0.767 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DMInput Modality=RGB2026.03 | 0.85 | 0.944 | 0.918 | 0.896 | 0.749 | 0.959 | 0.767 | 0.919 | 0.648 | 0.938 | 0.767 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-STData Representation=PCD, Descriptor Dimension=128, Integration Limit=0.32022.02 | 0.833 | 0.95 | 0.483 | 0.986 | 0.921 | 0.905 | 0.632 | 0.945 | 0.988 | 0.976 | 0.542 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ASTModality=3D2022.10 | 0.833 | 0.881 | 0.576 | 0.965 | 0.957 | 0.679 | 0.797 | 0.99 | 0.915 | 0.956 | 0.611 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ASTModality=3D2023.11 | 0.833 | 0.881 | 0.576 | 0.965 | 0.957 | 0.679 | 0.797 | 0.99 | 0.915 | 0.956 | 0.611 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ASTModality=3D only2025.05 | 0.833 | 0.881 | 0.576 | 0.957 | 0.679 | 0.797 | 0.99 | 0.915 | 0.956 | 0.611 | 0.833 | — | — | — | — | — | — | 4.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EdgRec2022.10 | 0.832 | 0.897 | 0.855 | 0.885 | 0.701 | 0.945 | 0.821 | 0.679 | 0.755 | 0.968 | 0.818 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CS-FlowModality=RGB2022.10 | 0.83 | 0.941 | 0.93 | 0.827 | 0.795 | 0.99 | 0.886 | 0.731 | 0.471 | 0.986 | 0.745 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CS-FlowModality=RGB2023.11 | 0.83 | 0.941 | 0.93 | 0.827 | 0.795 | 0.99 | 0.886 | 0.731 | 0.471 | 0.986 | 0.745 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-STData Representation=PCD, Descriptor Dimension=64, Integration Limit=0.32022.02 | 0.818 | 0.939 | 0.44 | 0.984 | 0.904 | 0.876 | 0.633 | 0.937 | 0.989 | 0.967 | 0.507 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFMModality=3D only2025.05 | 0.816 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Shape-GuidedInput Modality=RGB2026.03 | 0.815 | 0.911 | 0.936 | 0.883 | 0.662 | 0.974 | 0.772 | 0.785 | 0.641 | 0.884 | 0.706 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PatchCore2022.10 | 0.811 | 0.912 | 0.902 | 0.885 | 0.709 | 0.952 | 0.733 | 0.727 | 0.562 | 0.962 | 0.768 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STFPMModality=RGB, implementation=reimplementation2022.10 | 0.793 | 0.93 | 0.847 | 0.89 | 0.575 | 0.947 | 0.766 | 0.71 | 0.598 | 0.965 | 0.701 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFlow2022.10 | 0.793 | 0.88 | 0.858 | 0.828 | 0.563 | 0.986 | 0.738 | 0.757 | 0.628 | 0.97 | 0.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RGB iNetPre-training=ImageNet, Modality=RGB2022.03 | 0.785 | 0.854 | 0.84 | 0.824 | 0.687 | 0.974 | 0.716 | 0.713 | 0.593 | 0.92 | 0.724 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-ADNASModality=3D only2025.05 | 0.784 | 0.794 | 0.656 | 0.795 | 0.78 | 0.629 | 0.843 | 0.781 | 0.824 | 0.878 | 0.784 | — | — | — | — | — | — | 6.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 1-NN (FPFH)Modality=3D2022.10 | 0.782 | 0.825 | 0.551 | 0.952 | 0.797 | 0.883 | 0.582 | 0.758 | 0.889 | 0.929 | 0.653 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FPFHModality=3D2023.11 | 0.782 | 0.825 | 0.551 | 0.952 | 0.797 | 0.883 | 0.582 | 0.758 | 0.889 | 0.929 | 0.653 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BTFModality=3D only2025.05 | 0.782 | 0.825 | 0.551 | 0.797 | 0.883 | 0.582 | 0.758 | 0.889 | 0.929 | 0.653 | 0.782 | — | — | — | — | — | — | 6.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FPFHInput Modality=3D2026.03 | 0.782 | 0.825 | 0.551 | 0.952 | 0.797 | 0.883 | 0.582 | 0.758 | 0.889 | 0.929 | 0.653 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CSflow2022.10 | 0.778 | 0.894 | 0.917 | 0.749 | 0.668 | 0.938 | 0.897 | 0.603 | 0.419 | 0.971 | 0.726 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PatchCoreModality=RGB2022.10 | 0.77 | 0.876 | 0.88 | 0.791 | 0.682 | 0.912 | 0.701 | 0.695 | 0.618 | 0.841 | 0.702 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PatchCoreModality=RGB2023.11 | 0.77 | 0.876 | 0.88 | 0.791 | 0.682 | 0.912 | 0.701 | 0.695 | 0.618 | 0.841 | 0.702 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PaDiMModality=RGB, implementation=reimplementation2022.10 | 0.764 | 0.975 | 0.775 | 0.698 | 0.582 | 0.959 | 0.663 | 0.858 | 0.535 | 0.832 | 0.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PADIMModality=RGB2023.11 | 0.764 | 0.975 | 0.775 | 0.698 | 0.582 | 0.959 | 0.663 | 0.858 | 0.535 | 0.832 | 0.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PaDim2022.10 | 0.764 | 0.975 | 0.775 | 0.698 | 0.582 | 0.959 | 0.663 | 0.858 | 0.535 | 0.832 | 0.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FPFH2022.03 | 0.753 | 0.82 | 0.533 | 0.877 | 0.769 | 0.718 | 0.574 | 0.774 | 0.895 | 0.99 | 0.582 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-ST128Modality=3D2022.10 | 0.748 | 0.862 | 0.484 | 0.832 | 0.894 | 0.848 | 0.663 | 0.763 | 0.687 | 0.958 | 0.486 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-STModality=3D2023.11 | 0.748 | 0.862 | 0.484 | 0.832 | 0.894 | 0.848 | 0.663 | 0.763 | 0.687 | 0.958 | 0.486 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FastFlow2022.10 | 0.715 | 0.893 | 0.62 | 0.795 | 0.426 | 0.88 | 0.728 | 0.651 | 0.56 | 0.982 | 0.613 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SIFT2022.03 | 0.714 | 0.696 | 0.553 | 0.824 | 0.696 | 0.795 | 0.773 | 0.573 | 0.746 | 0.936 | 0.553 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EasyNetModality=3D only2025.05 | 0.706 | 0.629 | 0.716 | 0.731 | 0.66 | 0.71 | 0.712 | 0.711 | 0.688 | 0.731 | 0.706 | — | — | — | — | — | — | 7.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel VMModality=3D2022.10 | 0.699 | 0.75 | 0.747 | 0.613 | 0.738 | 0.823 | 0.693 | 0.679 | 0.652 | 0.609 | 0.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel VM2022.03 | 0.699 | 0.75 | 0.747 | 0.613 | 0.738 | 0.823 | 0.693 | 0.679 | 0.652 | 0.609 | 0.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DifferNetModality=RGB2022.10 | 0.696 | 0.859 | 0.703 | 0.643 | 0.435 | 0.797 | 0.79 | 0.787 | 0.643 | 0.715 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NSA2022.03 | 0.696 | 0.841 | 0.494 | 0.776 | 0.913 | 0.636 | 0.616 | 0.795 | 0.597 | 0.856 | 0.438 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DifferNetModality=RGB2023.11 | 0.696 | 0.859 | 0.703 | 0.643 | 0.435 | 0.797 | 0.79 | 0.787 | 0.643 | 0.715 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Diff2022.10 | 0.643 | 0.819 | 0.67 | 0.612 | 0.484 | 0.634 | 0.689 | 0.655 | 0.6 | 0.729 | 0.536 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Depth iNetPre-training=ImageNet, Modality=Depth2022.03 | 0.637 | 0.624 | 0.683 | 0.676 | 0.838 | 0.608 | 0.558 | 0.567 | 0.496 | 0.699 | 0.619 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel VMModality=3D + RGB2022.10 | 0.609 | 0.553 | 0.772 | 0.484 | 0.701 | 0.751 | 0.578 | 0.48 | 0.466 | 0.689 | 0.611 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel VMModality=RGB2022.03 | 0.609 | 0.553 | 0.772 | 0.484 | 0.701 | 0.751 | 0.578 | 0.48 | 0.466 | 0.689 | 0.611 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Depth AEModality=3D + RGB2022.10 | 0.595 | 0.648 | 0.502 | 0.65 | 0.488 | 0.805 | 0.522 | 0.712 | 0.529 | 0.54 | 0.552 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Depth AEModality=RGB2022.03 | 0.595 | 0.648 | 0.502 | 0.65 | 0.488 | 0.805 | 0.522 | 0.712 | 0.529 | 0.54 | 0.552 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Depth AEModality=3D+RGB2023.11 | 0.595 | 0.648 | 0.502 | 0.65 | 0.488 | 0.805 | 0.522 | 0.712 | 0.529 | 0.54 | 0.552 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DepthAEInput Modality=RGB+3D2026.03 | 0.595 | 0.648 | 0.502 | 0.65 | 0.488 | 0.805 | 0.522 | 0.712 | 0.529 | 0.54 | 0.552 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNextVariant=area 12022.03 | 0.587 | 0.499 | 0.772 | 0.498 | 0.75 | 0.589 | 0.525 | 0.545 | 0.431 | 0.805 | 0.484 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANData Representation=Voxel, Integration Limit=0.32022.02 | 0.583 | 0.44 | 0.453 | 0.825 | 0.755 | 0.782 | 0.378 | 0.392 | 0.639 | 0.775 | 0.389 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel AEModality=3D2022.10 | 0.571 | 0.693 | 0.425 | 0.515 | 0.79 | 0.494 | 0.558 | 0.537 | 0.484 | 0.639 | 0.583 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel AE2022.03 | 0.571 | 0.693 | 0.425 | 0.515 | 0.79 | 0.494 | 0.558 | 0.537 | 0.484 | 0.639 | 0.583 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |