Scene Graph Generation on ReplicaSSG
38.2Recall (Rel.)DeWorldSG
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| DeWorldSGPose Source=Ground-truth camera trajectories2026.07 | 38.2 | 35.4 | 45.3 | 38.1 | 27.3 | |
| DeWorldSGPose Source=Estimated (ORB-SLAM3)2026.07 | 37.4 | 33.8 | 42.8 | 37.6 | 26.9 | |
| NoPAn=256, Latency (ms)=23, VRAM (MB)=12302026.07 | 36.9 | 28.6 | 39.5 | 29.8 | 18.6 | |
| NoPAn=128, Latency (ms)=22, VRAM (MB)=12302026.07 | 32.4 | 28 | 34.6 | 29.6 | 16.5 | |
| FROSSPose Source=Estimated (ORB-SLAM3)2026.07 | 22.7 | 25.8 | 27.2 | 27.7 | 20.1 | |
| FROSSLatency (ms)=72026.07 | 22.3 | 26.1 | 27.8 | 28.8 | 20.4 | |
| FROSSReproduced=true, Latency (ms)=17, VRAM (MB)=12062026.07 | 22.3 | 25.3 | 27.5 | 27.6 | 12.6 | |
| FROSSPose Source=Ground-truth camera trajectories2026.07 | 22.3 | 26.1 | 27.8 | 28.8 | 20.4 |