3D Reconstruction on NRGBD
66.49Normalized Score (NC)RetrieveVGGT
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RetrieveVGGTSequence length (frames)=2002026.05 | 66.49 | — | — | — | 3.51 | 0.015 | — | — | — | — | — | |
| RetrieveVGGTSequence length (frames)=4002026.05 | 65.66 | — | — | — | 4.64 | 0.028 | — | — | — | — | — | |
| RetrieveVGGTSequence length (frames)=5002026.05 | 65.54 | — | — | — | 5 | 0.0294 | — | — | — | — | — | |
| RetrieveVGGTSequence length (frames)=3002026.05 | 65.53 | — | — | — | 4.54 | 0.0222 | — | — | — | — | — | |
| InfiniteVGGTSequence length (frames)=2002026.05 | 65.2 | — | — | — | 4.61 | 0.02 | — | — | — | — | — | |
| InfiniteVGGTSequence length (frames)=4002026.05 | 65.03 | — | — | — | 6.51 | 0.0348 | — | — | — | — | — | |
| Uniform samplingN=48, Sequence length (frames)=2002026.05 | 64.68 | — | — | — | 4.22 | 0.0202 | — | — | — | — | — | |
| Random samplingN=48, Sequence length (frames)=2002026.05 | 64.35 | — | — | — | 4.33 | 0.0189 | — | — | — | — | — | |
| InfiniteVGGTSequence length (frames)=5002026.05 | 64.33 | — | — | — | 6.96 | 0.037 | — | — | — | — | — | |
| InfiniteVGGTSequence length (frames)=3002026.05 | 64.31 | — | — | — | 5.32 | 0.0244 | — | — | — | — | — | |
| Uniform samplingN=48, Sequence length (frames)=3002026.05 | 64.15 | — | — | — | 5.78 | 0.0254 | — | — | — | — | — | |
| Uniform samplingN=48, Sequence length (frames)=4002026.05 | 63.74 | — | — | — | 7.73 | 0.0401 | — | — | — | — | — | |
| Random samplingN=48, Sequence length (frames)=3002026.05 | 63.66 | — | — | — | 5.95 | 0.0233 | — | — | — | — | — | |
| Uniform samplingN=48, Sequence length (frames)=5002026.05 | 63.59 | — | — | — | 7.6 | 0.0371 | — | — | — | — | — | |
| Random samplingN=48, Sequence length (frames)=4002026.05 | 63.05 | — | — | — | 7.77 | 0.0311 | — | — | — | — | — | |
| TTSA3RNumber of frames=2002026.04 | 63 | — | — | — | — | — | 0.031 | — | — | — | — | |
| Random samplingN=48, Sequence length (frames)=5002026.05 | 62.96 | — | — | — | 7.9 | 0.0312 | — | — | — | — | — | |
| TTT3RNumber of frames=2002026.04 | 62.6 | — | — | — | — | — | 0.037 | — | — | — | — | |
| Mem3R + TTT3RNumber of frames=2002026.04 | 62.5 | — | — | — | — | — | 0.037 | — | — | — | — | |
| Mem3R + TTSA3RNumber of frames=2002026.04 | 62.5 | — | — | — | — | — | 0.032 | — | — | — | — | |
| TTSA3RNumber of frames=2502026.04 | 62.2 | — | — | — | — | — | 0.042 | — | — | — | — | |
| Point3RSequence length (frames)=2002026.05 | 62.2 | — | — | — | 6.36 | 0.0191 | — | — | — | — | — | |
| TTT3RNumber of frames=2502026.04 | 62.1 | — | — | — | — | — | 0.049 | — | — | — | — | |
| Mem3R + TTT3RNumber of frames=2502026.04 | 62.1 | — | — | — | — | — | 0.048 | — | — | — | — | |
| Mem3R + TTSA3RNumber of frames=2502026.04 | 62.1 | — | — | — | — | — | 0.042 | — | — | — | — | |
| TTSA3RNumber of frames=3002026.04 | 61.6 | — | — | — | — | — | 0.057 | — | — | — | — | |
| Mem3R + TTSA3RNumber of frames=3002026.04 | 61.6 | — | — | — | — | — | 0.052 | — | — | — | — | |
| Sliding windowN=48, Sequence length (frames)=3002026.05 | 61.52 | — | — | — | 11.91 | 0.041 | — | — | — | — | — | |
| Mem3R + TTSA3RNumber of frames=3502026.04 | 61.4 | — | — | — | — | — | 0.057 | — | — | — | — | |
| Point3RSequence length (frames)=5002026.05 | 61.39 | — | — | — | 12.08 | 0.0312 | — | — | — | — | — | |
| Point3RSequence length (frames)=3002026.05 | 61.36 | — | — | — | 7.57 | 0.0143 | — | — | — | — | — | |
| Sliding windowN=48, Sequence length (frames)=2002026.05 | 61.35 | — | — | — | 8.69 | 0.0296 | — | — | — | — | — | |
| Spann3RSequence length (frames)=2002026.05 | 61.32 | — | — | — | 7.09 | 0.0181 | — | — | — | — | — | |
| Mem3RNumber of frames=2002026.04 | 61.2 | — | — | — | — | — | 0.06 | — | — | — | — | |
| Mem3R + TTT3RNumber of frames=3002026.04 | 61.2 | — | — | — | — | — | 0.062 | — | — | — | — | |
| Mem3R + TTSA3RNumber of frames=4002026.04 | 61.2 | — | — | — | — | — | 0.061 | — | — | — | — | |
| TTSA3RNumber of frames=3502026.04 | 61.1 | — | — | — | — | — | 0.06 | — | — | — | — | |
| Mem3RNumber of frames=2502026.04 | 60.9 | — | — | — | — | — | 0.085 | — | — | — | — | |
| TTSA3RNumber of frames=4002026.04 | 60.9 | — | — | — | — | — | 0.069 | — | — | — | — | |
| Mem3R + TTT3RNumber of frames=3502026.04 | 60.8 | — | — | — | — | — | 0.062 | — | — | — | — | |
| Mem3R + TTT3RNumber of frames=4002026.04 | 60.8 | — | — | — | — | — | 0.064 | — | — | — | — | |
| Point3RSequence length (frames)=4002026.05 | 60.67 | — | — | — | 10.45 | 0.0299 | — | — | — | — | — | |
| TTT3RNumber of frames=3002026.04 | 60.5 | — | — | — | — | — | 0.065 | — | — | — | — | |
| Sliding windowN=48, Sequence length (frames)=5002026.05 | 60.48 | — | — | — | 16.22 | 0.0539 | — | — | — | — | — | |
| Sliding windowN=48, Sequence length (frames)=4002026.05 | 60.28 | — | — | — | 15.01 | 0.0626 | — | — | — | — | — | |
| CUT3RNumber of frames=2002026.04 | 60.2 | — | — | — | — | — | 0.081 | — | — | — | — | |
| TTT3RSequence length (frames)=2002026.05 | 60.14 | — | — | — | 12.98 | 0.0304 | — | — | — | — | — | |
| TTT3RNumber of frames=3502026.04 | 59.9 | — | — | — | — | — | 0.085 | — | — | — | — | |
| CUT3RSequence length (frames)=2002026.05 | 59.87 | — | — | — | 13.62 | 0.0299 | — | — | — | — | — | |
| Spann3RSequence length (frames)=3002026.05 | 59.53 | — | — | — | 10.02 | 0.0262 | — | — | — | — | — | |
| TTT3RNumber of frames=4002026.04 | 59.5 | — | — | — | — | — | 0.104 | — | — | — | — | |
| CUT3RNumber of frames=2502026.04 | 59.4 | — | — | — | — | — | 0.13 | — | — | — | — | |
| Mem3RNumber of frames=3002026.04 | 59.2 | — | — | — | — | — | 0.101 | — | — | — | — | |
| Spann3RSequence length (frames)=4002026.05 | 58.55 | — | — | — | 14.17 | 0.0447 | — | — | — | — | — | |
| Mem3RNumber of frames=3502026.04 | 58.5 | — | — | — | — | — | 0.114 | — | — | — | — | |
| Spann3RSequence length (frames)=5002026.05 | 57.94 | — | — | — | 18.29 | 0.0487 | — | — | — | — | — | |
| TTT3RSequence length (frames)=3002026.05 | 57.77 | — | — | — | 22.78 | 0.0703 | — | — | — | — | — | |
| Mem3RNumber of frames=4002026.04 | 57.7 | — | — | — | — | — | 0.135 | — | — | — | — | |
| CUT3RNumber of frames=3002026.04 | 57.6 | — | — | — | — | — | 0.162 | — | — | — | — | |
| CUT3RSequence length (frames)=3002026.05 | 57.04 | — | — | — | 23.27 | 0.0687 | — | — | — | — | — | |
| CUT3RNumber of frames=3502026.04 | 56.6 | — | — | — | — | — | 0.188 | — | — | — | — | |
| TTT3RSequence length (frames)=4002026.05 | 55.35 | — | — | — | 31.46 | 0.1103 | — | — | — | — | — | |
| CUT3RNumber of frames=4002026.04 | 55.2 | — | — | — | — | — | 0.22 | — | — | — | — | |
| CUT3RSequence length (frames)=4002026.05 | 55.12 | — | — | — | 32.31 | 0.0992 | — | — | — | — | — | |
| TTT3RSequence length (frames)=5002026.05 | 55.1 | — | — | — | 31.96 | 0.144 | — | — | — | — | — | |
| CUT3RSequence length (frames)=5002026.05 | 55.06 | — | — | — | 33.41 | 0.135 | — | — | — | — | — | |
| CUT3R2026.02 | — | 100 | 95.63 | 76.9 | 4.2 | 0.019 | 0.03 | 0.075 | 54.9 | 80.8 | — | |
| CUT3RType=Online2026.04 | — | — | — | — | 9.9 | 0.076 | 0.088 | — | — | — | — | |
| CUT3RType=online2026.04 | — | — | — | — | 25 | 0.15 | — | — | — | — | 32.22 | |
| DUSt3R2026.02 | — | 100 | 93.25 | 76.04 | 3.1 | 0.024 | 0.027 | 0.063 | 66.2 | 86.5 | — | |
| DUSt3R-GAType=Offline, Global Alignment=true2026.04 | — | — | — | — | 14.4 | 0.154 | 0.149 | — | — | — | — | |
| DUSt3R†FPS=0.782025.01 | — | — | — | — | 2.51 | 1.03 | — | — | — | — | — | |
| F-ReconFPS=<0.12025.01 | — | — | — | — | 20.59 | 6.31 | — | — | — | — | — | |
| Fast3RFPS=251.12025.01 | — | — | — | — | 3.4 | 1.01 | — | — | — | — | — | |
| Flow3r2026.02 | — | 100 | 99.6 | 94.4 | 0.8 | 0.005 | 0.007 | 0.018 | 93.8 | 99.2 | — | |
| InfiniteVGGTType=online2026.04 | — | — | — | — | 13 | 0.05 | — | — | — | — | 42.27 | |
| LingBot-MapType=online2026.04 | — | — | — | — | 7 | 0.03 | — | — | — | — | 64.26 | |
| MASt3R-GAType=Offline, Global Alignment=true2026.04 | — | — | — | — | 8.5 | 0.063 | 0.074 | — | — | — | — | |
| MASt3R-SLAM*Type=Online2026.04 | — | — | — | — | 6.5 | 0.094 | 0.08 | — | — | — | — | |
| MonST3R-GAType=Offline, Global Alignment=true2026.04 | — | — | — | — | 27.2 | 0.287 | 0.28 | — | — | — | — | |
| Ours*Type=Online2026.04 | — | — | — | — | 5.3 | 0.093 | 0.073 | — | — | — | — | |
| pi^32026.02 | — | 100 | 99.2 | 90.4 | 1 | 0.007 | 0.008 | 0.021 | 91 | 98.3 | — | |
| Point3RType=Online2026.04 | — | — | — | — | 7.9 | 0.073 | 0.076 | — | — | — | — | |
| Spann3RFPS=65.42025.01 | — | — | — | — | 3.15 | 1.1 | — | — | — | — | — | |
| Spann3RType=Online2026.04 | — | — | — | — | 41.6 | 0.417 | 0.417 | — | — | — | — | |
| Stream3RType=online2026.04 | — | — | — | — | 21 | 0.07 | — | — | — | — | 54.07 | |
| Stream3R-wType=online2026.04 | — | — | — | — | 20 | 0.06 | — | — | — | — | 53.74 | |
| StreamVGGTType=online2026.04 | — | — | — | — | 13 | 0.05 | — | — | — | — | 45.08 | |
| Test3RType=Offline2026.04 | — | — | — | — | 8.3 | 0.079 | 0.081 | — | — | — | — | |
| TTT3RType=online2026.04 | — | — | — | — | 16 | 0.06 | — | — | — | — | 53.55 | |
| VGGT2026.02 | — | 100 | 99.21 | 93.13 | 1.5 | 0.01 | 0.012 | 0.032 | 83.3 | 96.4 | — | |
| Wint3RType=online2026.04 | — | — | — | — | 9 | 0.04 | — | — | — | — | 56.96 |