3D Reconstruction on 7-Scenes
41.7CompletionCOLMAP
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| COLMAP2022.05 | 41.7 | 6.9 | 20.2 | 53.6 | 28.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NeRF2022.05 | 32.1 | 57.3 | 8.5 | 15.9 | 8.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonST3R-GAType=Offline, Global Alignment=true2026.04 | 26.6 | 24.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.257 | — | — | — | |
| NeuS2022.05 | 24.7 | 15.1 | 22.9 | 31.3 | 26.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NeuralRecon2021.04 | 22.8 | 10 | 22.7 | 38.9 | 28.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| COLMAP*planar prior=true2022.05 | 21.5 | 67 | 21.5 | 11.6 | 14.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Spann3RType=Online2026.04 | 20.5 | 29.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.252 | — | — | — | |
| ACMPplanar prior=true2022.05 | 19.4 | 29.3 | 26.9 | 35 | 29.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CUT3RSetting=metric2026.03 | 18.6 | 18.9 | — | — | — | — | — | — | — | — | — | 0.582 | — | — | — | — | — | — | — | |
| DUSt3R-GAType=Offline, Global Alignment=true2026.04 | 18.1 | 14.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.164 | — | — | — | |
| DeepV2D2021.04 | 18 | 51.8 | 17.5 | 8.7 | 11.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MASt3R-GAType=Offline, Global Alignment=true2026.04 | 18 | 18.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.183 | — | — | — | |
| MapAnythingScale=Metric-Scale, Online=false2026.05 | 16.6 | 40.6 | — | — | — | — | — | — | — | — | — | 0.588 | — | — | — | — | — | 3 | — | |
| SparseVGGTSparsity=10-128 images2026.07 | 16.1 | 15.6 | — | — | 37.1 | — | — | — | — | — | — | — | — | — | — | 0.159 | — | — | — | |
| Co-MeSparsity=10-128 images2026.07 | 15.8 | 12.1 | — | — | 45.5 | — | — | — | — | — | — | — | — | — | — | 0.14 | — | — | — | |
| CUT3RType=Online2026.04 | 15.4 | 12.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.14 | — | — | — | |
| CNMNet2021.04 | 15 | 39.8 | 24.6 | 11.1 | 14.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Stream3R-wType=online2026.04 | 15 | 4 | — | — | 71.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SAF3RComparison Context=DA3 baseline, Sparsity=10-128 images2026.07 | 15 | 12 | — | — | 51.4 | — | — | — | — | — | — | — | — | — | — | 0.134 | — | — | — | |
| FastDA3Sparsity=10-128 images2026.07 | 14.5 | 12.3 | — | — | 52.9 | — | — | — | — | — | — | — | — | — | — | 0.134 | — | — | — | |
| ADA3Sparsity=10-128 images2026.07 | 14.4 | 12 | — | — | 53.3 | — | — | — | — | — | — | — | — | — | — | 0.132 | — | — | — | |
| CUT3RNumber of Frames=6002026.07 | 14.4 | 19.7 | — | — | — | — | — | — | — | — | — | 0.54 | — | — | — | — | — | — | — | |
| VolSDF2022.05 | 14 | 28.5 | 28.5 | 22 | 24.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point3RType=Online2026.04 | 13.9 | 12.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.132 | — | — | — | |
| UNISURF2022.05 | 13.6 | 40.7 | 30.1 | 19.5 | 23.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Test3RType=Offline2026.04 | 13.6 | 10.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.121 | — | — | — | |
| FastVGGTSparsity=10-128 images2026.07 | 13.4 | 12.7 | — | — | 47.8 | — | — | — | — | — | — | — | — | — | — | 0.13 | — | — | — | |
| ManhattanSDF2022.05 | 13.3 | 11.2 | 32.6 | 35.1 | 33.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CUT3RNumber of Frames=7002026.07 | 13 | 21 | — | — | — | — | — | — | — | — | — | 0.539 | — | — | — | — | — | — | — | |
| DA3Attention=Full, Sparsity=10-128 images2026.07 | 12.8 | 11.9 | — | — | 52.4 | — | — | — | — | — | — | — | — | — | — | 0.124 | — | — | — | |
| AVGGTSparsity=10-128 images2026.07 | 12.7 | 15.2 | — | — | 44.7 | — | — | — | — | — | — | — | — | — | — | 0.139 | — | — | — | |
| SAF3RComparison Context=VGGT baseline, Sparsity=10-128 images2026.07 | 12.7 | 14.4 | — | — | 47.3 | — | — | — | — | — | — | — | — | — | — | 0.136 | — | — | — | |
| VGGTAttention=Full, Sparsity=10-128 images2026.07 | 12.5 | 15.5 | — | — | 48 | — | — | — | — | — | — | — | — | — | — | 0.14 | — | — | — | |
| CUT3RNumber of Frames=4002026.07 | 11.4 | 17.7 | — | — | — | — | — | — | — | — | — | 0.549 | — | — | — | — | — | — | — | |
| Sparsepi^3Sparsity=10-128 images2026.07 | 11.3 | 16.3 | — | — | 33.2 | — | — | — | — | — | — | — | — | — | — | 0.138 | — | — | — | |
| StreamVGGTType=online2026.04 | 11 | 4 | — | — | 69.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| InfiniteVGGTType=online2026.04 | 11 | 4 | — | — | 68.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MapAnySetting=metric2026.03 | 10.9 | 33.9 | — | — | — | — | — | — | — | — | — | 0.639 | — | — | — | — | — | — | — | |
| FLARESetting=sparse2026.03 | 10.7 | 5.7 | — | — | — | — | — | — | — | — | — | 0.78 | — | — | — | — | — | — | — | |
| CUT3RScale=Metric-Scale, Online=true2026.05 | 10.2 | 9.5 | — | — | — | — | — | — | — | — | — | 0.696 | — | — | — | — | — | 1.78 | — | |
| DepthAnything3Scale=Scale-Invariant, Online=false2026.05 | 10.1 | 5.4 | — | — | — | — | — | — | — | — | — | 0.734 | — | — | — | — | — | 2.67 | — | |
| SAF3RComparison Context=pi^3 baseline, Sparsity=10-128 images2026.07 | 10.1 | 15 | — | — | 42.4 | — | — | — | — | — | — | — | — | — | — | 0.125 | — | — | — | |
| CUT3RType=online2026.04 | 10 | 7 | — | — | 58.98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CUT3RSequence length (frames)=4002026.05 | 9.95 | 16.04 | — | — | — | — | — | — | — | — | — | 0.5351 | — | — | — | — | — | — | — | |
| Api^3Sparsity=10-128 images2026.07 | 9.9 | 13.2 | — | — | 43.3 | — | — | — | — | — | — | — | — | — | — | 0.115 | — | — | — | |
| CUT3RNumber of Frames=5002026.07 | 9.9 | 20 | — | — | — | — | — | — | — | — | — | 0.544 | — | — | — | — | — | — | — | |
| pi^3Attention=Full, Sparsity=10-128 images2026.07 | 9.8 | 13.4 | — | — | 43 | — | — | — | — | — | — | — | — | — | — | 0.116 | — | — | — | |
| CUT3R2026.03 | 9.5 | 18.1 | — | — | — | — | 12.7 | — | 3.27 | — | 0.531 | 0.525 | — | — | — | — | — | — | — | |
| CUT3RScale=Scale-Invariant, Online=true2026.05 | 9.5 | 8.7 | — | — | — | — | — | — | — | — | — | 0.707 | — | — | — | — | — | 2.78 | — | |
| Fastpi^3Sparsity=10-128 images2026.07 | 9.4 | 14.1 | — | — | 47.3 | — | — | — | — | — | — | — | — | — | — | 0.117 | — | — | — | |
| StreamVGGTScale=Scale-Invariant, Online=true2026.05 | 9.1 | 10 | — | — | — | — | — | — | — | — | — | 0.723 | — | — | — | — | — | 1.89 | — | |
| Stream3RType=online2026.04 | 9 | 2 | — | — | 78.79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast3RSetting=sparse2026.03 | 8.9 | 6.5 | — | — | — | — | — | — | — | — | — | 0.759 | — | — | — | — | — | — | — | |
| MapAnythingScale=Scale-Invariant, Online=false2026.05 | 8.9 | 7 | — | — | — | — | — | — | — | — | — | 0.727 | — | — | — | — | — | 4.33 | — | |
| CUT3R2025.12 | 8.8 | 18.1 | — | — | — | — | — | — | — | — | — | 0.586 | 15.8 | — | — | — | — | — | — | |
| DepthAnything3Scale=Metric-Scale, Online=false2026.05 | 8.7 | 7.4 | — | — | — | — | — | — | — | — | — | 0.72 | — | — | — | — | — | 1.67 | — | |
| MASt3R-SLAMProtocol=Calib.2026.05 | 8.5 | 8.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.087 | 0.047 | — | — | |
| CUT3RSequence length (frames)=5002026.05 | 8.08 | 18.27 | — | — | — | — | — | — | — | — | — | 0.5309 | — | — | — | — | — | — | — | |
| TTT3RType=online2026.04 | 8 | 3 | — | — | 77.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CUT3RNumber of Frames=3002026.07 | 7.7 | 14.4 | — | — | — | — | — | — | — | — | — | 0.557 | — | — | — | — | — | — | — | |
| π³Scale=Scale-Invariant, Online=false2026.05 | 7.3 | 4.7 | — | — | — | — | — | — | — | — | — | 0.742 | — | — | — | — | — | 2.11 | — | |
| Wint3RType=online2026.04 | 7 | 3 | — | — | 78.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LingBot-MapType=online2026.04 | 7 | 2 | — | — | 80.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ours*Type=Online2026.04 | 6.7 | 3.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.053 | — | — | — | |
| MapAnySetting=sparse2026.03 | 6.4 | 5.3 | — | — | — | — | — | — | — | — | — | 0.83 | — | — | — | — | — | — | — | |
| Ours (G=1)Scale=Scale-Invariant, Online=true2026.05 | 6.3 | 6 | — | — | — | — | — | — | — | — | — | 0.748 | — | — | — | — | — | 1.33 | — | |
| CUT3RSequence length (frames)=3002026.05 | 6.29 | 12.69 | — | — | — | — | — | — | — | — | — | 0.5429 | — | — | — | — | — | — | — | |
| VGGT-SLAM (Sim(3), w = 32)Protocol=Uncalib., transformation=Sim(3), window_size=322026.05 | 6.2 | 5.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.057 | 0.067 | — | — | |
| Ours (G=1)Scale=Metric-Scale, Online=true2026.05 | 6.2 | 8.1 | — | — | — | — | — | — | — | — | — | 0.723 | — | — | — | — | — | 1.22 | — | |
| VGGT-SLAM2025.11 | 5.8 | 5.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.055 | — | — | — | |
| VGGT-SLAM (SL(4), w = 32)Protocol=Uncalib., transformation=SL(4), window_size=322026.05 | 5.8 | 5.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.055 | 0.067 | — | — | |
| Mono-Hydra++Protocol=Calib., Weights=ScanNet trained2026.05 | 5.8 | 10.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.086 | 0.033 | — | — | |
| VGGTScale=Scale-Invariant, Online=false2026.05 | 5.6 | 4.3 | — | — | — | — | — | — | — | — | — | 0.732 | — | — | — | — | — | 3.33 | — | |
| CUT3RSetting=sparse2026.03 | 5.1 | 4.9 | — | — | — | — | — | — | — | — | — | 0.805 | — | — | — | — | — | — | — | |
| TTT3RNumber of Frames=7002026.07 | 5.1 | 9.9 | — | — | — | — | — | — | — | — | — | 0.57 | — | — | — | — | — | — | — | |
| Pi3Setting=sparse2026.03 | 4.9 | 2.9 | — | — | — | — | — | — | — | — | — | 0.841 | — | — | — | — | — | — | — | |
| CUT3RSequence length (frames)=2002026.05 | 4.83 | 8.94 | — | — | — | — | — | — | — | — | — | 0.5642 | — | — | — | — | — | — | — | |
| DROID-SLAM2025.11 | 4.8 | 14.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.094 | — | — | — | |
| DROID-SLAMProtocol=Calib.2026.05 | 4.8 | 14.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.094 | 0.049 | — | — | |
| Fast3R2025.12 | 4.7 | 5.3 | — | — | — | — | — | — | — | — | — | 0.613 | 58.5 | — | — | — | — | — | — | |
| SING3R-SLAM2025.11 | 4.7 | 4.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.046 | — | — | — | |
| MASt3R-SLAM2025.11 | 4.5 | 6.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.056 | — | — | — | |
| MASt3R-SLAM*Type=Online2026.04 | 4.5 | 6.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.056 | — | — | — | |
| MASt3R-SLAMProtocol=Uncalib.2026.05 | 4.5 | 6.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.056 | 0.066 | — | — | |
| MeMixNumber of Frames=7002026.07 | 4.4 | 9 | — | — | — | — | — | — | — | — | — | 0.574 | — | — | — | — | — | — | — | |
| DAGESetting=sparse2026.03 | 4.2 | 2.7 | — | — | — | — | — | — | — | — | — | 0.846 | — | — | — | — | — | — | — | |
| Ours (G=N)Scale=Metric-Scale, Online=false2026.05 | 4.2 | 4.7 | — | — | — | — | — | — | — | — | — | 0.751 | — | — | — | — | — | 1.33 | — | |
| TTT3RNumber of Frames=6002026.07 | 4.2 | 8.5 | — | — | — | — | — | — | — | — | — | 0.573 | — | — | — | — | — | — | — | |
| DAGESetting=metric2026.03 | 4.1 | 3.4 | — | — | — | — | — | — | — | — | — | 0.847 | — | — | — | — | — | — | — | |
| MeMixNumber of Frames=6002026.07 | 3.9 | 7.7 | — | — | — | — | — | — | — | — | — | 0.579 | — | — | — | — | — | — | — | |
| TTT3RNumber of Frames=5002026.07 | 3.8 | 7 | — | — | — | — | — | — | — | — | — | 0.586 | — | — | — | — | — | — | — | |
| MeMixNumber of Frames=5002026.07 | 3.8 | 6.7 | — | — | — | — | — | — | — | — | — | 0.587 | — | — | — | — | — | — | — | |
| TTSA3RNumber of Frames=7002026.07 | 3.5 | 6.9 | — | — | — | — | — | — | — | — | — | 0.588 | — | — | — | — | — | — | — | |
| VGGTSetting=sparse2026.03 | 3.3 | 2.5 | — | — | — | — | — | — | — | — | — | 0.845 | — | — | — | — | — | — | — | |
| Ours (G=N)Scale=Scale-Invariant, Online=false2026.05 | 3.2 | 2.7 | — | — | — | — | — | — | — | — | — | 0.782 | — | — | — | — | — | 2.56 | — | |
| MeMixNumber of Frames=4002026.07 | 3.2 | 4.9 | — | — | — | — | — | — | — | — | — | 0.597 | — | — | — | — | — | — | — | |
| Point3RSequence length (frames)=5002026.05 | 3.16 | 5.85 | — | — | — | — | — | — | — | — | — | 0.5542 | — | — | — | — | — | — | — | |
| Point3R2026.03 | 3.1 | 6.3 | — | — | — | — | 2.6 | — | 1.5 | — | 0.589 | 0.559 | — | — | — | — | — | — | — | |
| TTT3RNumber of Frames=4002026.07 | 3.1 | 5.7 | — | — | — | — | — | — | — | — | — | 0.595 | — | — | — | — | — | — | — | |
| TTSA3RNumber of Frames=6002026.07 | 3.1 | 5.7 | — | — | — | — | — | — | — | — | — | 0.593 | — | — | — | — | — | — | — |