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ResearchFormerly WizWand

3D Reconstruction on NuScenes

4.499AccMapAnything
0.112281.251142.393.52886Dec 18, 2025Jan 20, 2026Feb 23, 2026Mar 28, 2026May 1, 2026Jun 3, 2026Jul 7, 2026
Updated 4mo ago

Evaluation results

MethodLinks
MapAnythingTime=~5.8s, Scale Alignment=None2025.124.4994.886
MapAnythingDirect metric scale prediction=true2026.074.4994.886
StreamVGGTTime=~31.0s, Scale Alignment=Umeyama algorithm [38]2025.122.5882.414
StreamVGGTDirect metric scale prediction=false2026.072.5882.414
CUT3RTime=~5.6s, Scale Alignment=Umeyama algorithm [38]2025.122.0542.603
CUT3RDirect metric scale prediction=false2026.072.0542.603
OmniVGGTParams.=1.21B2026.061.3363.26
OmniVGGTDirect metric scale prediction=false2026.071.311.703
VGGTTime=~13.7s, Scale Alignment=Umeyama algorithm [38]2025.121.31.498
VGGTDirect metric scale prediction=false2026.071.31.498
VGGTParams.=1.1B2026.061.1912.417
FastVGGTParams.=1.1B2026.061.1543.532
LiteVGGTParams.=1.1B2026.061.1511.983
LiAuto-GeoXParams.=155M2026.061.1391.729
π³Params.=959M2026.061.1011.194
DVGTInject=false, Alignment=Metric, Time=~19.73s2026.061.0780.808
DVGTParams.=1.73B2026.061.062.152
Driv3RTime=~9.0s, Scale Alignment=Umeyama algorithm [38]2025.120.7421.345
Driv3RDirect metric scale prediction=false2026.070.7421.345
VGGTInject=false, Alignment=Scale, Time=~55.62s2026.060.6030.346
OmniVGGTInject=true, Alignment=Scale, Time=~45.59s2026.060.5260.43
DVGTTime=~4.0s, Scale Alignment=None2025.120.4570.494
DVGTDirect metric scale prediction=true2026.070.4570.494
Pi3Inject=false, Alignment=Scale, Time=~35.08s2026.060.40.249
DA3-G†Inject=true, Alignment=Metric, Time=~31.79s2026.060.3810.256
DA3-GInject=true, Alignment=Scale, Time=~31.79s2026.060.360.275
MapAny.Inject=true, Alignment=Metric, Time=~34.49s2026.060.330.201
TRIGDirect metric scale prediction=true2026.070.3140.361
SurroundNEXOInject=true, Alignment=Metric, Time=~25.12s2026.060.2810.173