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ResearchFormerly WizWand

3D Reconstruction on Waymo (ATE (m))

0.46ATE (m)HorizonStream
-1.325610.727222.7834.8328May 22, 2026
Updated 5mo ago

Evaluation results

MethodLinks
HorizonStreamCalib.-free=✓, FPS=13.20, Paradigm=Online Fwd.2026.050.46
HorizonStream w/ LCCalib.-free=✓, FPS=10.45, Paradigm=Online Fwd.2026.050.46
LoGeR*Calib.-free=✓, FPS=9.1, Paradigm=Offline Fwd.2026.050.55
LongStreamCalib.-free=✓, FPS=17.10, Paradigm=Online Fwd.2026.050.74
LoGeRCalib.-free=✓, FPS=16.0, Paradigm=Offline Fwd.2026.050.96
FastVGGTCalib.-free=✓, FPS=14.20, Paradigm=Offline Fwd.2026.051.28
DPVO++Calib.-free=✗, FPS=19.30, Paradigm=Opt.-based2026.051.35
Lingbot-mapCalib.-free=✓, FPS=11.9, Paradigm=Online Fwd.2026.051.66
VGGT-LongCalib.-free=✓, FPS=4.80, Paradigm=Offline Fwd.2026.051.78
TTT3RCalib.-free=✓, FPS=22.00, Paradigm=Online Fwd.2026.053.49
MASt3R-SfMCalib.-free=✓, FPS=0.30, Paradigm=Opt.-based2026.053.95
DROID-SLAMCalib.-free=✗, FPS=13.60, Paradigm=Opt.-based2026.056.67
VGGT-SLAMCalib.-free=✓, FPS=15.80, Paradigm=Opt.-based2026.057.43
MASt3R-SLAMCalib.-free=✓, FPS=7.40, Paradigm=Opt.-based2026.057.63
CUT3RCalib.-free=✓, FPS=19.90, Paradigm=Online Fwd.2026.059.4
InfiniteVGGTCalib.-free=✓, FPS=5.30, Paradigm=Online Fwd.2026.0520.56
COLMAPCalib.-free=✓, FPS=0.20, Paradigm=Opt.-based2026.0525.63
STream3RCalib.-free=✓, FPS=8.20, Paradigm=Online Fwd.2026.0542.2
StreamVGGTCalib.-free=✓, FPS=19.10, Paradigm=Online Fwd.2026.0545.1