Class-agnostic 3D instance segmentation on ScanNet200
43.7mAPOurs-Large
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Ours-LargeOnline=true, VFM=FastSAM, Model Params=41.2M, CPU Latency=TVFM + 326ms2026.05 | 43.7 | 66.1 | 81.2 | |
| ESAM-EOnline=true, VFM=FastSAM, Model Params=44.6M, CPU Latency=TVFM + 934ms2026.05 | 43.4 | 65.4 | 80.9 | |
| ESAMOnline=true, VFM=SAM, Model Params=44.6M, CPU Latency=TVFM + 934ms2026.05 | 42.2 | 63.7 | 79.6 | |
| Mask3DVocabulary setting=Closed-vocabulary, VFM=None2026.04 | 40.4 | 51.2 | 57.1 | |
| Ours-BaseOnline=true, VFM=FastSAM, Model Params=23.5M, CPU Latency=TVFM + 252ms2026.05 | 39.7 | 60.6 | 77.5 | |
| MV3DISVocabulary setting=Open-vocabulary, VFM=GD-SAM2026.04 | 35.5 | 54.7 | 69.7 | |
| Open3DISOnline=false, VFM=GroundedSAM2026.05 | 34.6 | 43.1 | 48.5 | |
| SGS-3DVocabulary setting=Open-vocabulary, VFM=GD-SAM2026.04 | 34.3 | 51.3 | 64.6 | |
| Any3DISVocabulary setting=Open-vocabulary, VFM=SAM22026.04 | 32.5 | 45.2 | 55 | |
| Ours-SmallOnline=true, VFM=FastSAM, Model Params=14.1M, CPU Latency=TVFM + 211ms2026.05 | 30.3 | 55.8 | 68.9 | |
| Open3DISVocabulary setting=Open-vocabulary, VFM=GD-SAM2026.04 | 29.7 | 45.2 | 56.8 | |
| SAI3DVocabulary setting=Open-vocabulary, VFM=Sem-SAM2026.04 | 29.3 | 48.4 | 67.1 | |
| SAI3DOnline=false, VFM=SemanticSAM2026.05 | 28.2 | 47.2 | 67.9 | |
| SAM-graphVocabulary setting=Open-vocabulary, VFM=SAM2026.04 | 22.1 | 41.7 | 62.8 | |
| SAM3DOnline=true, VFM=SAM, CPU Latency=TVFM + 18s2026.05 | 20.2 | 35.7 | 55.5 | |
| SAM3DVocabulary setting=Open-vocabulary, VFM=SAM2026.04 | 20 | 33.8 | 52.7 | |
| MaskClusteringVocabulary setting=Open-vocabulary, VFM=CropFormer2026.04 | 19.7 | 36.4 | 51.4 | |
| SAM3DVocabulary setting=Open-vocabulary, VFM=GD-SAM2026.04 | 18 | 30.8 | 49.5 | |
| SAMPro3DOnline=false, VFM=SAM2026.05 | 18 | 32.8 | 56.1 | |
| Pano3D (MUSt3R)2026.06 | 14.6 | 36.8 | 59.7 | |
| UNITE2026.06 | 12.3 | 28.8 | 58.2 | |
| SAM3D2026.06 | 12.1 | 28.6 | 54.1 | |
| PanSt3REvaluation Protocol Source=[21]2026.06 | 10.6 | 27.3 | 50.8 | |
| FelzenszwalbVocabulary setting=Open-vocabulary, VFM=None2026.04 | 4.8 | 9.8 | 27.5 |