3D Reconstruction on NRGBD (Mean/Median Acc, Comp, NC)
96Accuracy MeanPPVD
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| PPVD2026.06 | 96 | 52 | 29 | 16 | 0.726 | 0.845 | — | — | — | |
| PPD2026.06 | 45 | 27 | 22 | 10 | 0.855 | 0.978 | — | — | — | |
| Spann3RType=Streaming2025.07 | 41.6 | 32.3 | 41.7 | 28.5 | 0.684 | 0.789 | — | — | — | |
| Spann3ROptim.=false, Onl.=true2026.05 | 41.6 | 32.3 | 41.7 | 28.5 | 0.684 | 0.789 | — | — | — | |
| CUT3RNumber of input frames=700, Keyframe sampling stride=12026.07 | 38.8 | — | — | — | — | — | — | 23.3 | 0.55 | |
| CUT3RNumber of input frames=600, Keyframe sampling stride=12026.07 | 37.1 | — | — | — | — | — | — | 20.2 | 0.552 | |
| CUT3RNumber of input frames=500, Keyframe sampling stride=12026.07 | 32.7 | — | — | — | — | — | — | 20.2 | 0.564 | |
| CUT3RInput Length=5002026.05 | 32.6 | 24.3 | 13.2 | 4.2 | 0.556 | 0.582 | — | — | — | |
| CUT3RInput Length=4002026.05 | 31.5 | 21.5 | 10.1 | 3.2 | 0.551 | 0.572 | — | — | — | |
| CUT3RNumber of input frames=400, Keyframe sampling stride=22026.07 | 29 | — | — | — | — | — | — | 11 | 0.578 | |
| MonST3R-GAType=Pair-wise2025.07 | 27.2 | 11.4 | 28.7 | 11 | 0.758 | 0.843 | — | — | — | |
| MonST3R-GAOptim.=true, Onl.=false2026.05 | 27.2 | 11.4 | 28.7 | 11 | 0.758 | 0.843 | — | — | — | |
| CUT3RNumber of input frames=300, Keyframe sampling stride=22026.07 | 22.6 | — | — | — | — | — | — | 13.5 | 0.596 | |
| CUT3RInput Length=3002026.05 | 22.4 | 12.6 | 7.4 | 1.2 | 0.579 | 0.624 | — | — | — | |
| VGGT2026.06 | 20 | 13 | 15 | 6 | 0.882 | 0.988 | — | — | — | |
| TTT3RNumber of input frames=700, Keyframe sampling stride=12026.07 | 19.7 | — | — | — | — | — | — | 7.3 | 0.608 | |
| MeMixL=5002026.05 | 18.3 | 9.4 | 9.4 | 3.1 | 0.595 | 0.65 | — | — | — | |
| TTT3RNumber of input frames=600, Keyframe sampling stride=12026.07 | 17.2 | — | — | — | — | — | — | 5.1 | 0.616 | |
| TTT3RL=5002026.05 | 16.6 | 8.7 | 8.7 | 1.6 | 0.588 | 0.637 | — | — | — | |
| TTT3RInput Length=5002026.05 | 16.5 | 8.4 | 9.5 | 1.5 | 0.594 | 0.648 | — | — | — | |
| VGGT + MDARepresentation=GMM2026.06 | 16 | 10 | 15 | 6 | 0.886 | 0.988 | — | — | — | |
| MeMixNumber of input frames=700, Keyframe sampling stride=12026.07 | 16 | — | — | — | — | — | — | 5.5 | 0.614 | |
| MeMixL=4002026.05 | 14.6 | 6.6 | 7 | 1.8 | 0.602 | 0.665 | — | — | — | |
| DUSt3R-GAType=Pair-wise2025.07 | 14.4 | 1.9 | 15.4 | 1.8 | 0.87 | 0.982 | — | — | — | |
| DUSt3R-GAOptim.=true, Onl.=false2026.05 | 14.4 | 1.9 | 15.4 | 1.8 | 0.87 | 0.982 | — | — | — | |
| TTT3RL=4002026.05 | 14.4 | 6.6 | 6.8 | 0.9 | 0.592 | 0.643 | — | — | — | |
| TTT3RInput Length=4002026.05 | 14 | 7 | 5.8 | 1.4 | 0.599 | 0.657 | — | — | — | |
| TTT3RNumber of input frames=400, Keyframe sampling stride=22026.07 | 14 | — | — | — | — | — | — | 7.4 | 0.633 | |
| TTT3RNumber of input frames=500, Keyframe sampling stride=12026.07 | 13.6 | — | — | — | — | — | — | 4.1 | 0.63 | |
| MeMixNumber of input frames=600, Keyframe sampling stride=12026.07 | 13.5 | — | — | — | — | — | — | 4.1 | 0.623 | |
| MeMixNumber of input frames=400, Keyframe sampling stride=22026.07 | 13.4 | — | — | — | — | — | — | 6.6 | 0.634 | |
| TTSA3RNumber of input frames=700, Keyframe sampling stride=12026.07 | 12.3 | — | — | — | — | — | — | 4.3 | 0.644 | |
| TTSA3RL=5002026.05 | 12.1 | 5.2 | 4.9 | 0.6 | 0.604 | 0.666 | — | — | — | |
| DA3 + MDARepresentation=LMM2026.06 | 12 | 7 | 11 | 4 | 0.904 | 0.987 | — | — | — | |
| Point3RInput Length=5002026.05 | 11.3 | 4.8 | 3.7 | 0.5 | 0.613 | 0.684 | — | — | — | |
| DA3 + MDARepresentation=GMM2026.06 | 11 | 7 | 12 | 4 | 0.912 | 0.99 | — | — | — | |
| MeMixNumber of input frames=500, Keyframe sampling stride=12026.07 | 10.9 | — | — | — | — | — | — | 3.4 | 0.634 | |
| TTSA3RNumber of input frames=400, Keyframe sampling stride=22026.07 | 10.6 | — | — | — | — | — | — | 4 | 0.665 | |
| TTSA3RNumber of input frames=600, Keyframe sampling stride=12026.07 | 10.6 | — | — | — | — | — | — | 3 | 0.651 | |
| TTT3RNumber of input frames=300, Keyframe sampling stride=22026.07 | 10.5 | — | — | — | — | — | — | 3 | 0.646 | |
| TTT3RL=3002026.05 | 10.4 | 4.5 | 2.6 | 0.5 | 0.605 | 0.668 | — | — | — | |
| TTSA3RL=4002026.05 | 10.4 | 4.5 | 3.5 | 0.5 | 0.607 | 0.673 | — | — | — | |
| TTT3RInput Length=3002026.05 | 10.3 | 4.5 | 2.5 | 0.5 | 0.608 | 0.673 | — | — | — | |
| AFG-PoseL=5002026.05 | 10.1 | 4 | 3.3 | 0.4 | 0.611 | 0.68 | — | — | — | |
| DA32026.06 | 10 | 5 | 11 | 4 | 0.948 | 0.995 | — | — | — | |
| CUT3RType=Streaming2025.07 | 9.9 | 3.1 | 7.6 | 2.6 | 0.837 | 0.971 | — | — | — | |
| CUT3ROptim.=false, Onl.=true2026.05 | 9.9 | 3.1 | 7.6 | 2.6 | 0.837 | 0.971 | — | — | — | |
| MeMixL=3002026.05 | 9.9 | 3.7 | 2 | 0.4 | 0.616 | 0.692 | — | — | — | |
| Point3RInput Length=4002026.05 | 9.3 | 4.5 | 2.4 | 0.5 | 0.613 | 0.685 | — | — | — | |
| ReCal3RNumber of input frames=700, Keyframe sampling stride=12026.07 | 9.3 | — | — | — | — | — | — | 3.1 | 0.658 | |
| AFG-ImgL=5002026.05 | 9.2 | 3.1 | 2.7 | 0.4 | 0.614 | 0.683 | — | — | — | |
| TTSA3RNumber of input frames=300, Keyframe sampling stride=22026.07 | 9.1 | — | — | — | — | — | — | 2.3 | 0.669 | |
| TTSA3RL=3002026.05 | 9 | 3.7 | 2 | 0.5 | 0.613 | 0.685 | — | — | — | |
| ReCal3RNumber of input frames=600, Keyframe sampling stride=12026.07 | 9 | — | — | — | — | — | — | 2.2 | 0.666 | |
| ReCal3RNumber of input frames=400, Keyframe sampling stride=22026.07 | 8.6 | — | — | — | — | — | — | 3 | 0.684 | |
| MASt3R-GAType=Pair-wise2025.07 | 8.5 | 3.3 | 6.3 | 2.8 | 0.794 | 0.928 | — | — | — | |
| MASt3R-GAOptim.=true, Onl.=false2026.05 | 8.5 | 3.3 | 6.3 | 2.8 | 0.794 | 0.928 | — | — | — | |
| AFG-PoseL=4002026.05 | 8.5 | 3.5 | 2.3 | 0.3 | 0.613 | 0.683 | — | — | — | |
| TTSA3RNumber of input frames=500, Keyframe sampling stride=12026.07 | 8.5 | — | — | — | — | — | — | 2.5 | 0.66 | |
| StreamVGGTType=Streaming2025.07 | 8.4 | 4.4 | 7.4 | 4.1 | 0.861 | 0.986 | — | — | — | |
| StreamVGGTType=Streaming2025.07 | 8.4 | 4.4 | 7.4 | 4.1 | 0.861 | 0.986 | — | — | — | |
| InfiniteVGGTInput Length=5002026.05 | 8 | 5.4 | 3.7 | 0.8 | 0.643 | 0.746 | — | — | — | |
| ReCal3RNumber of input frames=300, Keyframe sampling stride=22026.07 | 7.8 | — | — | — | — | — | — | 1.6 | 0.685 | |
| Point3ROptim.=false, Onl.=true2026.05 | 7.7 | 3 | 6.9 | 2.7 | 0.835 | 0.971 | — | — | — | |
| Point3RInput Length=3002026.05 | 7.6 | 4.3 | 1.4 | 0.5 | 0.618 | 0.695 | — | — | — | |
| AFG-PoseL=3002026.05 | 7.5 | 2.6 | 1.1 | 0.4 | 0.617 | 0.69 | — | — | — | |
| AFG-ImgL=4002026.05 | 7.5 | 2.6 | 1.5 | 0.3 | 0.617 | 0.689 | — | — | — | |
| VGGTType=Dense-view2025.07 | 7.3 | 1.8 | 7.7 | 2.1 | 0.91 | 0.99 | — | — | — | |
| AFG-ImgL=3002026.05 | 7.1 | 2.3 | 1 | 0.3 | 0.616 | 0.692 | — | — | — | |
| ReCal3RNumber of input frames=500, Keyframe sampling stride=12026.07 | 7 | — | — | — | — | — | — | 1.8 | 0.675 | |
| InfiniteVGGTInput Length=4002026.05 | 6.9 | 4 | 3.4 | 0.5 | 0.653 | 0.763 | — | — | — | |
| STream3RType=Streaming2025.07 | 6.8 | 1.6 | 3.3 | 1.4 | 0.904 | 0.981 | — | — | — | |
| MeMixNumber of input frames=300, Keyframe sampling stride=22026.07 | 6.3 | — | — | — | — | — | — | 1.8 | 0.67 | |
| SmoothQuantW/A=W8A82026.05 | 6.2 | 5.2 | 6.6 | 5.4 | 0.769 | 0.778 | — | — | — | |
| OursOptim.=false, Onl.=true2026.05 | 6.1 | 3.1 | 2.2 | 0.8 | 0.771 | 0.926 | — | — | — | |
| Fast3RStride=102026.05 | 6.1 | 2.8 | 3.1 | 1.3 | 0.669 | 0.712 | 7.4 | — | — | |
| GPTQW/A=W4A162026.05 | 5.3 | 2.9 | 5.1 | 2.2 | 0.872 | 0.945 | — | — | — | |
| InfiniteVGGTInput Length=3002026.05 | 5.1 | 3.2 | 2.2 | 0.5 | 0.649 | 0.756 | — | — | — | |
| AWQW/A=W4A162026.05 | 4.7 | 2.3 | 5.9 | 2.4 | 0.891 | 0.982 | — | — | — | |
| GHOSTInput Length=3002026.05 | 4.6 | 2 | 2.5 | 0.3 | 0.69 | 0.835 | — | — | — | |
| GHOSTInput Length=5002026.05 | 4.5 | 2.1 | 2.3 | 0.3 | 0.672 | 0.781 | — | — | — | |
| GHOSTInput Length=4002026.05 | 4.3 | 2 | 2.3 | 0.3 | 0.682 | 0.825 | — | — | — | |
| SparseVGGTStride=102026.05 | 4.1 | 2.7 | 2.7 | 1.2 | 0.652 | 0.763 | 4.1 | — | — | |
| QVGGTW/A=W4A162026.05 | 2.9 | 1.5 | 3.7 | 1.5 | 0.925 | 0.994 | — | — | — | |
| VGGTW/A=FP162026.05 | 2.4 | 1.3 | 3.8 | 1.3 | 0.922 | 0.994 | — | — | — | |
| TurboVGGTStride=102026.05 | 2.1 | 1.4 | 2.1 | 1.1 | 0.664 | 0.783 | 2.9 | — | — | |
| FastVGGTStride=102026.05 | 1.7 | 1.1 | 1.7 | 0.9 | 0.671 | 0.791 | 4 | — | — | |
| VGGTStride=102026.05 | 1.6 | 1 | 1.6 | 0.9 | 0.669 | 0.791 | 7.2 | — | — |