3D Reconstruction on NuScenes
4.499AccMapAnything
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| MapAnythingTime=~5.8s, Scale Alignment=None2025.12 | 4.499 | 4.886 | |
| MapAnythingDirect metric scale prediction=true2026.07 | 4.499 | 4.886 | |
| StreamVGGTTime=~31.0s, Scale Alignment=Umeyama algorithm [38]2025.12 | 2.588 | 2.414 | |
| StreamVGGTDirect metric scale prediction=false2026.07 | 2.588 | 2.414 | |
| CUT3RTime=~5.6s, Scale Alignment=Umeyama algorithm [38]2025.12 | 2.054 | 2.603 | |
| CUT3RDirect metric scale prediction=false2026.07 | 2.054 | 2.603 | |
| OmniVGGTParams.=1.21B2026.06 | 1.336 | 3.26 | |
| OmniVGGTDirect metric scale prediction=false2026.07 | 1.31 | 1.703 | |
| VGGTTime=~13.7s, Scale Alignment=Umeyama algorithm [38]2025.12 | 1.3 | 1.498 | |
| VGGTDirect metric scale prediction=false2026.07 | 1.3 | 1.498 | |
| VGGTParams.=1.1B2026.06 | 1.191 | 2.417 | |
| FastVGGTParams.=1.1B2026.06 | 1.154 | 3.532 | |
| LiteVGGTParams.=1.1B2026.06 | 1.151 | 1.983 | |
| LiAuto-GeoXParams.=155M2026.06 | 1.139 | 1.729 | |
| π³Params.=959M2026.06 | 1.101 | 1.194 | |
| DVGTInject=false, Alignment=Metric, Time=~19.73s2026.06 | 1.078 | 0.808 | |
| DVGTParams.=1.73B2026.06 | 1.06 | 2.152 | |
| Driv3RTime=~9.0s, Scale Alignment=Umeyama algorithm [38]2025.12 | 0.742 | 1.345 | |
| Driv3RDirect metric scale prediction=false2026.07 | 0.742 | 1.345 | |
| VGGTInject=false, Alignment=Scale, Time=~55.62s2026.06 | 0.603 | 0.346 | |
| OmniVGGTInject=true, Alignment=Scale, Time=~45.59s2026.06 | 0.526 | 0.43 | |
| DVGTTime=~4.0s, Scale Alignment=None2025.12 | 0.457 | 0.494 | |
| DVGTDirect metric scale prediction=true2026.07 | 0.457 | 0.494 | |
| Pi3Inject=false, Alignment=Scale, Time=~35.08s2026.06 | 0.4 | 0.249 | |
| DA3-G†Inject=true, Alignment=Metric, Time=~31.79s2026.06 | 0.381 | 0.256 | |
| DA3-GInject=true, Alignment=Scale, Time=~31.79s2026.06 | 0.36 | 0.275 | |
| MapAny.Inject=true, Alignment=Metric, Time=~34.49s2026.06 | 0.33 | 0.201 | |
| TRIGDirect metric scale prediction=true2026.07 | 0.314 | 0.361 | |
| SurroundNEXOInject=true, Alignment=Metric, Time=~25.12s2026.06 | 0.281 | 0.173 |