Semantic Segmentation on Replica
89.3Avg AccuracyFeature 3DGS
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Feature 3DGSFeature Dimension=512-D, Operational Mode (Online/Offline)=Offline2026.01 | 89.3 | — | — | — | 92.6 | 95.1 | 92.2 | 74.4 | 79.6 | 95.4 | 94 | 91 | 83.6 | 71.8 | 73.8 | 54.6 | 43.4 | 68.7 | 77.5 | 63.3 | 67.1 | 0.242 | 0.245 | 0.276 | 0.337 | 0.373 | 0.296 | 0.292 | 0.335 | 0.3 | |
| OGScene3DMetric Type=mAcc, Inference Setting=Zero-shot2026.03 | 89.15 | — | — | — | 91.33 | 87.71 | 83.6 | 92.73 | 92.88 | 83.08 | 90.85 | 91.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Feature 3DGSFeature Dimension=128-D, Operational Mode (Online/Offline)=Offline2026.01 | 89 | — | — | — | 92.8 | 94.9 | 91.7 | 74.3 | 78.5 | 95.3 | 93.9 | 90.7 | 83.8 | 71.2 | 72.9 | 53.8 | 40.6 | 67.7 | 76.3 | 61.5 | 66 | 1.143 | 1.182 | 1.36 | 1.591 | 1.723 | 1.421 | 1.455 | 1.584 | 1.432 | |
| LangGS-SLAMOperational Mode (Online/Offline)=Online2026.01 | 88.3 | — | — | — | 90.4 | 93.9 | 91.6 | 74.4 | 79.3 | 93.4 | 92.5 | 90.8 | 80 | 71.1 | 74.7 | 54.9 | 44 | 68.3 | 77.6 | 67.7 | 67.3 | 15 | 15 | 15 | 15 | 15 | 15 | 15 | 15 | 15 | |
| UniSemInputs=2-view, Evaluation=Cross-dataset generalization, Fine-tuning=No2026.03 | 79.66 | 47.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Uni3RInputs=2-view, Evaluation=Cross-dataset generalization, Fine-tuning=No2026.03 | 76.16 | 42.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenGS-SLAMMetric Type=mAcc, Inference Setting=Zero-shot2026.03 | 73.11 | — | — | — | 73.53 | 72.13 | 74.17 | 73.05 | 69.03 | 75.36 | 73.62 | 74.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OGScene3DMetric Type=mIoU, Inference Setting=Zero-shot2026.03 | 71.77 | — | — | — | 67.94 | 65.96 | 71.23 | 70.82 | 74.08 | 72.99 | 75.57 | 75.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LSMInputs=2-view, Evaluation=Cross-dataset generalization, Fine-tuning=No2026.03 | 70.54 | 35.96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GS-GroupingMetric Type=mAcc, Inference Setting=Zero-shot2026.03 | 69.94 | — | — | — | 69.02 | 67.83 | 71.41 | 73.61 | 66.78 | 71.51 | 70.29 | 69.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenGS-SLAMMetric Type=mIoU, Inference Setting=Zero-shot2026.03 | 61.91 | — | — | — | 64.06 | 61.18 | 64.38 | 61.53 | 58.11 | 63.05 | 62.71 | 60.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LeRFOperational Mode (Online/Offline)=Offline2026.01 | 61.8 | — | — | — | 49.4 | 69.7 | 71 | 63.3 | 61.3 | 55.7 | 55.4 | 68.5 | 27.2 | 21.7 | 35.8 | 36.2 | 32.3 | 15 | 20.1 | 33.3 | 27.7 | 5.376 | 5.323 | 5.368 | 5.402 | 5.427 | 5.413 | 5.428 | 5.403 | 5.392 | |
| LangSplatOperational Mode (Online/Offline)=Offline2026.01 | 61.4 | — | — | — | 54.4 | 54.9 | 70.1 | 34.5 | 65.5 | 77.2 | 65.1 | 69 | 26.4 | 18.4 | 33 | 12.5 | 22.7 | 37.5 | 28.9 | 31.1 | 26.3 | 1.047 | 0.794 | 1.049 | 0.57 | 0.571 | 0.693 | 1.08 | 1.101 | 0.863 | |
| GS-GroupingMetric Type=mIoU, Inference Setting=Zero-shot2026.03 | 59.15 | — | — | — | 60.55 | 57.68 | 62.82 | 63.42 | 55.41 | 59.33 | 57.91 | 56.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Feature 3DGSMetric Type=mAcc, Inference Setting=Zero-shot2026.03 | 57.51 | — | — | — | 59.46 | 55.37 | 62.21 | 59.42 | 52.19 | 58.25 | 57.84 | 55.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Feature 3DGSMetric Type=mIoU, Inference Setting=Zero-shot2026.03 | 48.89 | — | — | — | 49.62 | 47.71 | 53 | 51.37 | 44.94 | 49.49 | 48.93 | 46.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Feature 3DGSspeed-up module=true, rendered feature dim=1282023.12 | — | 78.2 | 94.3 | 14.55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Feature 3DGSspeed-up module=false2023.12 | — | 78.7 | 94.3 | 6.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Feature 3DGS2026.01 | — | 78.2 | 94.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GS3LAM2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | 96.83 | 96.68 | 96.4 | 96.61 | 97.35 | 96.83 | 96.1 | 95.73 | 96.57 | — | — | — | — | — | — | — | — | — | |
| LSMOffline SfM=Not Required2024.10 | — | 51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NEDS-SLAM2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | 90.73 | 91.2 | — | 90.42 | — | — | — | — | 90.78 | — | — | — | — | — | — | — | — | — | |
| NeRF-DFF2023.12 | — | 63.6 | 86.4 | 5.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NeRF-DFF2026.01 | — | 63.6 | 86.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ours2026.01 | — | 81.1 | 95.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Panoptic Lifting2026.01 | — | 67.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S2GSinference_mode=Zero-shot, input_views=322026.03 | — | 37.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SemGauss-SLAM2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | 92.81 | 94.1 | 94.72 | 95.23 | 90.11 | 94.93 | 92.93 | 94.82 | 93.71 | — | — | — | — | — | — | — | — | — | |
| SGS-SLAM2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | 92.95 | 92.91 | 92.1 | 92.9 | — | — | — | — | 92.72 | — | — | — | — | — | — | — | — | — | |
| SIU3Rinference_mode=Zero-shot, input_views=322026.03 | — | 21.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SNI-SLAM2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | 88.42 | 87.43 | 86.16 | 87.63 | 78.63 | 86.49 | 74.01 | 80.22 | 83.62 | — | — | — | — | — | — | — | — | — |