# 3D Reconstruction on NuScenes Source: [3D Reconstruction on NuScenes]() Collection index: [llms.txt]() Data updated: 2026-07-08T07:14:03.775Z Evaluation of 3D Reconstruction performance on the NuScenes dataset, reporting geometric metrics such as Accuracy (Acc) and Completion (Comp). A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | 3D Reconstruction | | Dataset (including any stated split) | NuScenes | | Metric | Acc | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 29 of 29 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Acc](): Higher is better; unit: SCALAR. - [Completion](): Higher is better; unit: SCALAR. ## Recorded results | Method | Acc | Result date | Report paper | | --- | --- | --- | --- | | MapAnything | 4.499 | Not recorded | 6944dc2b423ea42265729d1d | | MapAnything | 4.499 | Not recorded | 6a4dd9b84da6617fe9198ca0 | | StreamVGGT | 2.588 | Not recorded | 6944dc2b423ea42265729d1d | | StreamVGGT | 2.588 | Not recorded | 6a4dd9b84da6617fe9198ca0 | | CUT3R | 2.054 | Not recorded | 6944dc2b423ea42265729d1d | | CUT3R | 2.054 | Not recorded | 6a4dd9b84da6617fe9198ca0 | | OmniVGGT | 1.336 | Not recorded | 6a22589e86173ad9c1468bb2 | | OmniVGGT | 1.31 | Not recorded | 6a4dd9b84da6617fe9198ca0 | | VGGT | 1.3 | Not recorded | 6944dc2b423ea42265729d1d | | VGGT | 1.3 | Not recorded | 6a4dd9b84da6617fe9198ca0 | | VGGT | 1.191 | Not recorded | 6a22589e86173ad9c1468bb2 | | FastVGGT | 1.154 | Not recorded | 6a22589e86173ad9c1468bb2 | | LiteVGGT | 1.151 | Not recorded | 6a22589e86173ad9c1468bb2 | | LiAuto-GeoX | 1.139 | Not recorded | 6a22589e86173ad9c1468bb2 | | π³ | 1.101 | Not recorded | 6a22589e86173ad9c1468bb2 | | DVGT | 1.078 | Not recorded | 6a30d920d33dfb23e783d329 | | DVGT | 1.06 | Not recorded | 6a22589e86173ad9c1468bb2 | | Driv3R | 0.742 | Not recorded | 6944dc2b423ea42265729d1d | | Driv3R | 0.742 | Not recorded | 6a4dd9b84da6617fe9198ca0 | | VGGT | 0.603 | Not recorded | 6a30d920d33dfb23e783d329 | | OmniVGGT | 0.526 | Not recorded | 6a30d920d33dfb23e783d329 | | DVGT | 0.457 | Not recorded | 6944dc2b423ea42265729d1d | | DVGT | 0.457 | Not recorded | 6a4dd9b84da6617fe9198ca0 | | Pi3 | 0.4 | Not recorded | 6a30d920d33dfb23e783d329 | | DA3-G† | 0.381 | Not recorded | 6a30d920d33dfb23e783d329 | | DA3-G | 0.36 | Not recorded | 6a30d920d33dfb23e783d329 | | MapAny. | 0.33 | Not recorded | 6a30d920d33dfb23e783d329 | | TRIG | 0.314 | Not recorded | 6a4dd9b84da6617fe9198ca0 | | SurroundNEXO | 0.281 | Not recorded | 6a30d920d33dfb23e783d329 | ### MapAnything Acc: 4.499. Result ID: 69a1817835dfcabb00e77f50. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"~5.8s","Scale Alignment":"None"}. This record does not assert independent reproduction. ### MapAnything Acc: 4.499. Result ID: 6a4df8ab60b88bb339d6e0a3. [Reporting paper]() Recorded evaluation configuration: {"Direct metric scale prediction":"true"}. This record does not assert independent reproduction. ### StreamVGGT Acc: 2.588. Result ID: 69a1817835dfcabb00e77f51. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"~31.0s","Scale Alignment":"Umeyama algorithm \[38\]"}. This record does not assert independent reproduction. ### StreamVGGT Acc: 2.588. Result ID: 6a4df8ab60b88bb339d6e0a4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Direct metric scale prediction":"false"}. This record does not assert independent reproduction. ### CUT3R Acc: 2.054. Result ID: 69a1817835dfcabb00e77f4e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Time":"~5.6s","Scale Alignment":"Umeyama algorithm \[38\]"}. This record does not assert independent reproduction. ### CUT3R Acc: 2.054. Result ID: 6a4df8ab60b88bb339d6e0a1. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Direct metric scale prediction":"false"}. This record does not assert independent reproduction. ### OmniVGGT Acc: 1.336. Result ID: 6a228eeafbc373592c20c8ef. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params.":"1.21B"}. This record does not assert independent reproduction. ### OmniVGGT Acc: 1.31. Result ID: 6a4df8ab60b88bb339d6e0a0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Direct metric scale prediction":"false"}. This record does not assert independent reproduction. ### VGGT Acc: 1.3. Result ID: 69a1817835dfcabb00e77f4f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Time":"~13.7s","Scale Alignment":"Umeyama algorithm \[38\]"}. This record does not assert independent reproduction. ### VGGT Acc: 1.3. Result ID: 6a4df8ab60b88bb339d6e0a2. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Direct metric scale prediction":"false"}. This record does not assert independent reproduction. ### VGGT Acc: 1.191. Result ID: 6a228eeafbc373592c20c8eb. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Params.":"1.1B"}. This record does not assert independent reproduction. ### FastVGGT Acc: 1.154. Result ID: 6a228eeafbc373592c20c8ec. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params.":"1.1B"}. This record does not assert independent reproduction. ### LiteVGGT Acc: 1.151. Result ID: 6a228eeafbc373592c20c8ed. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params.":"1.1B"}. This record does not assert independent reproduction. ### LiAuto-GeoX Acc: 1.139. Result ID: 6a228eeafbc373592c20c8f1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params.":"155M"}. This record does not assert independent reproduction. ### π³ Acc: 1.101. Result ID: 6a228eeafbc373592c20c8ee. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params.":"959M"}. This record does not assert independent reproduction. ### DVGT Acc: 1.078. Result ID: 6a312d98fbc373592c2e8213. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Inject":"false","Alignment":"Metric","Time":"~19.73s"}. This record does not assert independent reproduction. ### DVGT Acc: 1.06. Result ID: 6a228eeafbc373592c20c8f0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params.":"1.73B"}. This record does not assert independent reproduction. ### Driv3R Acc: 0.742. Result ID: 69a1817835dfcabb00e77f52. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"~9.0s","Scale Alignment":"Umeyama algorithm \[38\]"}. This record does not assert independent reproduction. ### Driv3R Acc: 0.742. Result ID: 6a4df8ab60b88bb339d6e0a5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Direct metric scale prediction":"false"}. This record does not assert independent reproduction. ### VGGT Acc: 0.603. Result ID: 6a312d98fbc373592c2e8210. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Inject":"false","Alignment":"Scale","Time":"~55.62s"}. This record does not assert independent reproduction. ### OmniVGGT Acc: 0.526. Result ID: 6a312d98fbc373592c2e8212. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Inject":"true","Alignment":"Scale","Time":"~45.59s"}. This record does not assert independent reproduction. ### DVGT Acc: 0.457. Result ID: 69a1817835dfcabb00e77f53. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"~4.0s","Scale Alignment":"None"}. This record does not assert independent reproduction. ### DVGT Acc: 0.457. Result ID: 6a4df8ab60b88bb339d6e0a6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Direct metric scale prediction":"true"}. This record does not assert independent reproduction. ### Pi3 Acc: 0.4. Result ID: 6a312d98fbc373592c2e8211. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Inject":"false","Alignment":"Scale","Time":"~35.08s"}. This record does not assert independent reproduction. ### DA3-G† Acc: 0.381. Result ID: 6a312d98fbc373592c2e8215. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Inject":"true","Alignment":"Metric","Time":"~31.79s"}. This record does not assert independent reproduction. ### DA3-G Acc: 0.36. Result ID: 6a312d98fbc373592c2e8214. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Inject":"true","Alignment":"Scale","Time":"~31.79s"}. This record does not assert independent reproduction. ### MapAny. Acc: 0.33. Result ID: 6a312d98fbc373592c2e8216. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Inject":"true","Alignment":"Metric","Time":"~34.49s"}. This record does not assert independent reproduction. ### TRIG Acc: 0.314. Result ID: 6a4df8ab60b88bb339d6e0a7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Direct metric scale prediction":"true"}. This record does not assert independent reproduction. ### SurroundNEXO Acc: 0.281. Result ID: 6a312d98fbc373592c2e8217. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Inject":"true","Alignment":"Metric","Time":"~25.12s"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.