# Urban Scene Reconstruction on PandaSet Extrapolation Hard (test)

Source: [Urban Scene Reconstruction on PandaSet Extrapolation Hard (test)](<https://www.sota2.com/research/sota/urban-scene-reconstruction-on-pandaset-extrapolation-hard-test>)

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

Data updated: 2026-05-22T08:56:35.267Z

Evaluation of Urban Scene Reconstruction performance on the test split of the PandaSet Extrapolation Hard subset, measured using image fidelity metrics (FID@4m, FID@5m) and reconstruction time.

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 | Urban Scene Reconstruction |
| Dataset (including any stated split) | PandaSet Extrapolation Hard (test) |
| Metric | FID@4m |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 8 of 8 |
| 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

- [FID@4m](<https://www.sota2.com/research/sota/urban-scene-reconstruction-on-pandaset-extrapolation-hard-test.md?metric=FID%404m>): Lower is better; unit: SCALAR.

- [FID@5m](<https://www.sota2.com/research/sota/urban-scene-reconstruction-on-pandaset-extrapolation-hard-test.md?metric=FID%405m>): Lower is better; unit: SCALAR.

- [Reconstruction Time](<https://www.sota2.com/research/sota/urban-scene-reconstruction-on-pandaset-extrapolation-hard-test.md?metric=Reconstruction%20Time>): Lower is better; unit: TIME.

## Recorded results

| Method | FID@4m | Result date | Report paper |
| --- | --- | --- | --- |
| GenRe+ | 102.73 | Not recorded | 6a0fe30af984739ed6739d63 |
| StreetCrafter | 118.94 | Not recorded | 6a0fe30af984739ed6739d63 |
| GNet | 124.65 | Not recorded | 6a0fe30af984739ed6739d63 |
| Difix3D | 137.8 | Not recorded | 6a0fe30af984739ed6739d63 |
| StreetGS | 153.76 | Not recorded | 6a0fe30af984739ed6739d63 |
| G3R | 174.64 | Not recorded | 6a0fe30af984739ed6739d63 |
| SplatAD | 188 | Not recorded | 6a0fe30af984739ed6739d63 |
| 3DGS | 205.09 | Not recorded | 6a0fe30af984739ed6739d63 |

### GenRe+

FID@4m: 102.73. Result ID: 6a101a2bfbc373592c093e6f.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

Recorded evaluation configuration: {"Setting":"Reconstruction with neural fixers"}. This record does not assert independent reproduction.

### StreetCrafter

FID@4m: 118.94. Result ID: 6a101a2bfbc373592c093e6d.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7ae41e209131cea85b8c.md>)

[Implementation](<https://zju3dv.github.io/street_crafter>)

Recorded evaluation configuration: {"Setting":"Reconstruction with neural fixers"}. This record does not assert independent reproduction.

### GNet

FID@4m: 124.65. Result ID: 6a101a2bfbc373592c093e6c.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

Recorded evaluation configuration: {"Setting":"Standalone reconstruction"}. This record does not assert independent reproduction.

### Difix3D

FID@4m: 137.8. Result ID: 6a101a2bfbc373592c093e6e.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77381e209131cea71c37.md>)

Recorded evaluation configuration: {"Setting":"Reconstruction with neural fixers"}. This record does not assert independent reproduction.

### StreetGS

FID@4m: 153.76. Result ID: 6a101a2bfbc373592c093e69.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74891e209131cea624fa.md>)

Recorded evaluation configuration: {"Setting":"Standalone reconstruction"}. This record does not assert independent reproduction.

### G3R

FID@4m: 174.64. Result ID: 6a101a2bfbc373592c093e6b.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75051e209131cea654cb.md>)

Recorded evaluation configuration: {"Setting":"Standalone reconstruction"}. This record does not assert independent reproduction.

### SplatAD

FID@4m: 188. Result ID: 6a101a2bfbc373592c093e6a.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa776a1e209131cea73228.md>)

Recorded evaluation configuration: {"Setting":"Standalone reconstruction"}. This record does not assert independent reproduction.

### 3DGS

FID@4m: 205.09. Result ID: 6a101a2bfbc373592c093e68.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe30af984739ed6739d63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70461e209131cea4a191.md>)

[Implementation](<https://repo-sam.inria.fr/fungraph/3d-gaussian-splatting/>)

Recorded evaluation configuration: {"Setting":"Standalone reconstruction"}. This record does not assert independent reproduction.

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