Table 2 Evaluation metrics for 3D scene... | Emerald Publishing

Table 2

Evaluation metrics for 3D scene graph generation.

Metric	Definition	Use Case
R@K	Fraction of GT triplets recovered in top-K	Overall relation recall
mR@K	Avg. Recall@K over all predicate classes	Mitigates long-tail issue
ZS R@K	Recall@K on unseen subject-predicate-object combinations	Tests generalization to novel relations
F1 Score	Harmonic mean of precision and recall	Balances precision and recall
mAP	Area under precision-recall curve	Standard detection metric

Metric	Definition	Use Case
R@K	Fraction of GT triplets recovered in top-K	Overall relation recall
mR@K	Avg. Recall@K over all predicate classes	Mitigates long-tail issue
ZS R@K	Recall@K on unseen subject-predicate-object combinations	Tests generalization to novel relations
F1 Score	Harmonic mean of precision and recall	Balances precision and recall
mAP	Area under precision-recall curve	Standard detection metric