ResearchBenchmarksObject Counting and Collision Evaluation on ScanNetObject Counting and Collision Evaluation on ScanNetFollow36.43Object CountSimRecon8.942816.078923.21530.3511Jun 26, 2026Evaluation resultsMethodMethodLinksObject CountOOB CountOOB RateCollision PairsCollision RateSimRecon2026.0636.433.69.8853.278.25ReScene2026.0622.170.20.916.16.86RICO2026.06102.5325.34.510