# Semantic Segmentation on Replica (full)

Source: [Semantic Segmentation on Replica (full)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full>)

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

Data updated: 2026-02-26T06:10:54.322Z

Evaluation of Semantic Segmentation performance on the full Replica dataset, reporting various Mean Intersection over Union (mIoU) metrics.

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 | Semantic Segmentation |
| Dataset (including any stated split) | Replica (full) |
| Metric | mIoU (Avg) |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 4 of 4 |
| 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

- [mIoU (Avg)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full.md?metric=mIoU%20(Avg)>): Higher is better; unit: SCALAR.

- [mIoU (R0)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full.md?metric=mIoU%20(R0)>): Higher is better; unit: SCALAR.

- [mIoU (R1)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full.md?metric=mIoU%20(R1)>): Higher is better; unit: SCALAR.

- [mIoU (R2)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full.md?metric=mIoU%20(R2)>): Higher is better; unit: SCALAR.

- [mIoU (Of0)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full.md?metric=mIoU%20(Of0)>): Higher is better; unit: SCALAR.

- [mIoU (Of1)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full.md?metric=mIoU%20(Of1)>): Higher is better; unit: SCALAR.

- [mIoU (Of2)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full.md?metric=mIoU%20(Of2)>): Higher is better; unit: SCALAR.

- [mIoU (Of3)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full.md?metric=mIoU%20(Of3)>): Higher is better; unit: SCALAR.

- [mIoU (Of4)](<https://www.sota2.com/research/sota/semantic-segmentation-on-replica-full.md?metric=mIoU%20(Of4)>): Higher is better; unit: SCALAR.

## Recorded results

| Method | mIoU (Avg) | Result date | Report paper |
| --- | --- | --- | --- |
| OpenMonoGS-SLAM | 0.896 | Not recorded | 6938fe8c6cfd488761a53ce3 |
| SGS-SLAM | 0.866 | Not recorded | 6938fe8c6cfd488761a53ce3 |
| Hier-SLAM | 0.804 | Not recorded | 6938fe8c6cfd488761a53ce3 |
| DNS-SLAM | 0.742 | Not recorded | 6938fe8c6cfd488761a53ce3 |

### OpenMonoGS-SLAM

mIoU (Avg): 0.896. Result ID: 69986d455698665ec4cd102b.

[Reporting paper](<https://www.sota2.com/research/paper/6938fe8c6cfd488761a53ce3.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6938fe8c6cfd488761a53ce3.md>)

Recorded evaluation configuration: {"labels":"ground-truth semantic IDs"}. This record does not assert independent reproduction.

### SGS-SLAM

mIoU (Avg): 0.866. Result ID: 69986d455698665ec4cd1029.

[Reporting paper](<https://www.sota2.com/research/paper/6938fe8c6cfd488761a53ce3.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75d01e209131cea69fad.md>)

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

### Hier-SLAM

mIoU (Avg): 0.804. Result ID: 69986d455698665ec4cd102a.

[Reporting paper](<https://www.sota2.com/research/paper/6938fe8c6cfd488761a53ce3.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa775c1e209131cea72b1b.md>)

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

### DNS-SLAM

mIoU (Avg): 0.742. Result ID: 69986d455698665ec4cd1028.

[Reporting paper](<https://www.sota2.com/research/paper/6938fe8c6cfd488761a53ce3.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa715e1e209131cea50e64.md>)

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

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