# Geometry Completion on CARLA

Source: [Geometry Completion on CARLA](<https://www.sota2.com/research/sota/geometry-completion-on-carla>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:39:03.307Z

Evaluation of 3D geometry completion performance using data generated from the CARLA simulator, measured primarily by Chamfer Distance.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Geometry Completion |
| Dataset (including any stated split) | CARLA |
| Metric | Chamfer Distance (All) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 8 of 8 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Chamfer Distance (All)](<https://www.sota2.com/research/sota/geometry-completion-on-carla.md?metric=Chamfer%20Distance%20(All)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | Chamfer Distance (All) | Result date | Report paper |
| --- | --- | --- | --- |
| 4D Neural Fields | 0.47 | Not recorded | 68fa6c601e209131cea33aa8 |
| No self-attention | 0.5 | Not recorded | 68fa6c601e209131cea33aa8 |
| No time | 0.55 | Not recorded | 68fa6c601e209131cea33aa8 |
| No attention | 0.71 | Not recorded | 68fa6c601e209131cea33aa8 |
| No cross-attention | 0.73 | Not recorded | 68fa6c601e209131cea33aa8 |
| No local features | 1.12 | Not recorded | 68fa6c601e209131cea33aa8 |
| Copy input view | 1.39 | Not recorded | 68fa6c601e209131cea33aa8 |
| PCN | 11.79 | Not recorded | 68fa6c601e209131cea33aa8 |

### 4D Neural Fields

Chamfer Distance (All): 0.47. Result ID: 698f0db93a6c314849f54839.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### No self-attention

Chamfer Distance (All): 0.5. Result ID: 698f0db93a6c314849f54834.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No self-attention"}. This record does not assert independent reproduction.

### No time

Chamfer Distance (All): 0.55. Result ID: 698f0db93a6c314849f54833.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No temporal dimension"}. This record does not assert independent reproduction.

### No attention

Chamfer Distance (All): 0.71. Result ID: 698f0db93a6c314849f54836.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No self or cross attention"}. This record does not assert independent reproduction.

### No cross-attention

Chamfer Distance (All): 0.73. Result ID: 698f0db93a6c314849f54835.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No cross-attention"}. This record does not assert independent reproduction.

### No local features

Chamfer Distance (All): 1.12. Result ID: 698f0db93a6c314849f54832.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No local features"}. This record does not assert independent reproduction.

### Copy input view

Chamfer Distance (All): 1.39. Result ID: 698f0db93a6c314849f54837.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PCN

Chamfer Distance (All): 11.79. Result ID: 698f0db93a6c314849f54838.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66791e209131cea10672.md>)

[Implementation](<https://wentaoyuan.github.io/pcn>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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