3D Reconstruction on VKITTI 2 (ATE)
0.38ATE (m)DPVO++
Evaluation Results
| Method | Links | |
|---|---|---|
| DPVO++Calib.-free=✗, FPS=19.30, Paradigm=Opt.-based2026.05 | 0.38 | |
| VGGT-LongCalib.-free=✓, FPS=4.80, Paradigm=Offline Fwd.2026.05 | 0.91 | |
| HorizonStreamCalib.-free=✓, FPS=13.20, Paradigm=Online Fwd.2026.05 | 0.94 | |
| HorizonStream w/ LCCalib.-free=✓, FPS=10.45, Paradigm=Online Fwd.2026.05 | 0.94 | |
| DROID-SLAMCalib.-free=✗, FPS=13.60, Paradigm=Opt.-based2026.05 | 1.12 | |
| Lingbot-mapCalib.-free=✓, FPS=11.9, Paradigm=Online Fwd.2026.05 | 1.3 | |
| LongStreamCalib.-free=✓, FPS=17.10, Paradigm=Online Fwd.2026.05 | 1.61 | |
| LoGeRCalib.-free=✓, FPS=16.0, Paradigm=Offline Fwd.2026.05 | 1.66 | |
| LoGeR*Calib.-free=✓, FPS=9.1, Paradigm=Offline Fwd.2026.05 | 2.45 | |
| COLMAPCalib.-free=✓, FPS=0.20, Paradigm=Opt.-based2026.05 | 9.59 | |
| VGGT-SLAMCalib.-free=✓, FPS=15.80, Paradigm=Opt.-based2026.05 | 19.23 | |
| FastVGGTCalib.-free=✓, FPS=14.20, Paradigm=Offline Fwd.2026.05 | 21.52 | |
| TTT3RCalib.-free=✓, FPS=22.00, Paradigm=Online Fwd.2026.05 | 24.18 | |
| CUT3RCalib.-free=✓, FPS=19.90, Paradigm=Online Fwd.2026.05 | 47.66 | |
| MASt3R-SfMCalib.-free=✓, FPS=0.30, Paradigm=Opt.-based2026.05 | 49.48 | |
| InfiniteVGGTCalib.-free=✓, FPS=5.30, Paradigm=Online Fwd.2026.05 | 58.63 | |
| StreamVGGTCalib.-free=✓, FPS=19.10, Paradigm=Online Fwd.2026.05 | 68.51 | |
| STream3RCalib.-free=✓, FPS=8.20, Paradigm=Online Fwd.2026.05 | 68.96 | |
| MASt3R-SLAMCalib.-free=✓, FPS=7.40, Paradigm=Opt.-based2026.05 | 81.55 |