Instance Segmentation on ScanNet
59.4mAP@0.5Contrastive Scene Contexts
Evaluation results
| Method | Links | |||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Contrastive Scene ContextsPre-training strategy=Contrastive Scene Contexts2020.12 | 59.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointContrastPre-training strategy=PointContrast2020.12 | 58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScratchPre-training strategy=None (from scratch)2020.12 | 56.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Contrastive Scene ContextsSettings=LR (240 scenes)2020.12 | 50.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Contrastive Scene ContextsSettings=LA (200 points)2020.12 | 48.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointContrastSettings=LR (240 scenes)2020.12 | 48.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScratchSettings=LR (240 scenes)2020.12 | 48.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointContrastSettings=LA (200 points)2020.12 | 44.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScratchSettings=LA (200 points)2020.12 | 43.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TID3R2026.03 | 41.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 25 | 25.4 | — | |
| Mask3DOnline=false2026.03 | 36.1 | 47.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 16.9 | 47.8 | |
| PE3R2026.03 | 32.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.2 | 22.3 | — | |
| TID3R (w/o Warping-based unifi.)Ablation=without Warping-based unification2026.03 | 26.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17 | 18.1 | — | |
| DEVA2026.03 | 25.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13.9 | 11.7 | — | |
| OVI-MAPOnline=true2026.03 | 24 | 41.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.8 | 37.4 | |
| PointINSunsupervised=true2026.03 | 18.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10.8 | — | 43.4 | |
| Segment3DOnline=false2026.03 | 9.3 | 42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.5 | 16.5 | |
| OVO-SLAMOnline=true2026.03 | 7.4 | 39.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2 | 14.4 | |
| HDBSCANunsupervised=true2026.03 | 4.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.7 | — | 16.4 | |
| Felzenszwalbunsupervised=true2026.03 | 2.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.2 | — | 13.4 | |
| 3D-SIS2019.02 | — | 38.2 | 100 | 43.2 | 24.5 | 19 | 57.7 | 1.3 | 26.3 | 3.3 | 32 | 24 | 7.5 | 42.2 | 85.7 | 11.7 | 69.9 | 27.1 | 88.3 | 23.5 | — | — | — | |
| GSPN2019.02 | — | 30.6 | 50 | 40.5 | 31.1 | 34.8 | 58.9 | 5.4 | 6.8 | 12.6 | 28.3 | 29 | 2.8 | 21.9 | 21.4 | 33.1 | 39.6 | 27.5 | 82.1 | 24.5 | — | — | — | |
| MASC2019.02 | — | 44.7 | 52.8 | 55.5 | 38.1 | 38.2 | 63.3 | 0.2 | 50.9 | 26 | 36.1 | 43.2 | 32.7 | 45.1 | 57.1 | 36.7 | 63.9 | 38.6 | 98 | 27.6 | — | — | — | |
| SGPN2019.02 | — | 14.3 | 20.8 | 39 | 16.9 | 6.5 | 27.5 | 2.9 | 6.9 | 0 | 8.7 | 4.3 | 1.4 | 2.7 | 0 | 11.2 | 35.1 | 16.8 | 43.8 | 13.8 | — | — | — |