3D Scene Reconstruction on 7-scenes (test)
8AccuracySimRec
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SimRecTraining Dataset=ScanNet2023.04 | 8 | 8.6 | 8.3 | 51.1 | 48.2 | 49.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NeuRecTraining Dataset=ScanNet2023.04 | 6.1 | 19.4 | 12.8 | 58.8 | 34.7 | 43.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VisFusionTraining Dataset=ScanNet2023.04 | 5.9 | 13.1 | 9.5 | 62 | 44.1 | 51.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Spann3RFPS=>502024.12 | 3.42 | 2.41 | — | — | — | — | 2.23 | 1.68 | 0.88 | 0.92 | 2.67 | 0.98 | 5.86 | 3.54 | 2.25 | 1.85 | 2.68 | 1.8 | 5.65 | 5.15 | — | — | — | — | — | — | — | — | |
| MASt3RFPS=≪12024.12 | 3.04 | 3.9 | — | — | — | — | 2.08 | 2.12 | 1.54 | 1.43 | 1.06 | 1.04 | 3.23 | 3.19 | 5.68 | 3.07 | 3.5 | 3.37 | 2.36 | 13.16 | — | — | — | — | — | — | — | — | |
| SLAM3R-NoConfFPS=~252024.12 | 2.4 | 2.24 | — | — | — | — | 2.12 | 1.21 | 0.95 | 0.8 | 3.23 | 1.67 | 2.59 | 2.21 | 1.99 | 2.04 | 2.09 | 1.88 | 4.54 | 6.38 | — | — | — | — | — | — | — | — | |
| DUSt3RFPS=<12024.12 | 2.19 | 3.24 | — | — | — | — | 2.26 | 2.13 | 1.04 | 1.5 | 1.66 | 0.98 | 4.62 | 4.74 | 1.73 | 2.43 | 1.95 | 2.36 | 3.37 | 10.75 | — | — | — | — | — | — | — | — | |
| SLAM3RFPS=~252024.12 | 2.13 | 2.34 | — | — | — | — | 1.63 | 1.31 | 0.84 | 0.83 | 2.95 | 1.22 | 2.32 | 2.26 | 1.81 | 2.05 | 1.84 | 1.94 | 4.19 | 6.91 | — | — | — | — | — | — | — | — | |
| Spann3R2026.02 | 0.298 | 0.205 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.65 | — | — | — | — | — | — | — | |
| MonST3R2026.02 | 0.248 | 0.266 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.672 | — | — | — | — | — | — | — | |
| St4RTrack2026.02 | 0.24 | 0.234 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.681 | — | — | — | — | — | — | — | |
| TraceAnything2026.02 | 0.232 | 0.359 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.584 | — | — | — | — | — | — | — | |
| MASt3R2026.02 | 0.185 | 0.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.701 | — | — | — | — | — | — | — | |
| DUSt3R2026.02 | 0.146 | 0.181 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.736 | — | — | — | — | — | — | — | |
| Any4D2026.02 | 0.141 | 0.177 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.738 | — | — | — | — | — | — | — | |
| CUT3R2026.02 | 0.126 | 0.154 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.727 | — | — | — | — | — | — | — | |
| V-DPM2026.02 | 0.097 | 0.124 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.772 | — | — | — | — | — | — | — | |
| VGGT2026.02 | 0.087 | 0.091 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.787 | — | — | — | — | — | — | — | |
| VGGT**NVIDIA model=H100, VRAM=80 GB, Speed=8.53 fps, Sampling=sparse sampling2026.02 | 0.087 | 0.091 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.787 | — | — | — | — | — | — | — | |
| G2VLMapproach_type=generalist geometric approach2026.07 | 0.084 | 0.056 | — | — | — | 59.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pi32026.02 | 0.044 | 0.063 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.758 | — | — | — | — | — | — | — | |
| Infinite VGGTNVIDIA model=A100, Peak VRAM usage=14.49 GB, Speed=5.95 fps2026.02 | 0.043 | 0.025 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.561 | — | — | — | — | — | — | — | |
| MoReapproach_type=feed-forward geometric model2026.07 | 0.038 | 0.039 | — | — | — | 77.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 4RC2026.02 | 0.034 | 0.051 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.783 | — | — | — | — | — | — | — | |
| VGGT SLAM*NVIDIA model=RTX 4090, VRAM=24 GB, Peak VRAM usage=24> GB, Speed=6.9 fps2026.02 | 0.031 | 0.0387 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.612 | — | — | — | — | — | — | — | |
| SenseNova-Visionapproach_type=generalist geometric approach2026.07 | 0.028 | 0.026 | — | — | — | 87.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MapAnythingapproach_type=generalist geometric approach2026.07 | 0.027 | 0.029 | — | — | — | 87.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IncVGGTNVIDIA model=A100, VRAM=80 GB, Peak VRAM usage=9 GB, Speed=11.74 fps2026.02 | 0.0266 | 0.0203 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.901 | — | — | — | — | — | — | — | |
| DUSt3Rapproach_type=feed-forward geometric model2026.07 | 0.026 | 0.034 | — | — | — | 87.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| StreamVGGTNVIDIA model=A800, VRAM=40 GB, Peak VRAM usage=80 GB+, Speed=2.16-2.2 fps2026.02 | 0.0241 | 0.0203 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.915 | — | — | — | — | — | — | — | |
| VGGTapproach_type=feed-forward geometric model2026.07 | 0.023 | 0.032 | — | — | — | 88.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SceneVGGTNVIDIA model=RTX 4090, VRAM=24 GB, Peak VRAM usage=15 GB, Speed=7.23 fps2026.02 | 0.0213 | 0.0446 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.5775 | — | — | — | — | — | — | — | |
| DepthAnything3approach_type=feed-forward geometric model2026.07 | 0.02 | 0.026 | — | — | — | 90.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VGGT*NVIDIA model=A100, VRAM=80 GB, Peak VRAM usage=60+ GB2026.02 | 0.0055 | 0.0067 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.948 | — | — | — | — | — | — | — | |
| CUT3R# Tokens=768, K=22026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.043 | 0.023 | 0.054 | 0.028 | 0.76 | 0.884 | |
| DUSt3RGA (Global Alignment)=true, Resolution=224x2242026.02 | — | — | 1.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.5 | — | — | — | — | — | — | |
| DUSt3R# Tokens=2048, K=22026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.054 | 0.023 | 0.075 | 0.034 | 0.772 | 0.901 | |
| MV-DUSt3RGA (Global Alignment)=false, Resolution=224x2242026.02 | — | — | 0.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.6 | — | — | — | — | — | — | |
| NOVA3R# Tokens=768, K=22026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.041 | 0.021 | 0.033 | 0.019 | 0.794 | 0.917 | |
| Ours (SAGE-10K)GA (Global Alignment)=false, Resolution=224x2242026.02 | — | — | 0.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 98 | — | — | — | — | — | — | |
| Ours (SAGE-1K)GA (Global Alignment)=false, Resolution=224x2242026.02 | — | — | 0.79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 96 | — | — | — | — | — | — | |
| Ours (VDS)GA (Global Alignment)=false, Resolution=224x224, Supervision=Video Depth Supervision2026.02 | — | — | 0.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 92.5 | — | — | — | — | — | — | |
| Spann3RGA (Global Alignment)=false, Resolution=224x2242026.02 | — | — | 1.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 90 | — | — | — | — | — | — | |
| Spann3R# Tokens=784, K=22026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.044 | 0.022 | 0.046 | 0.025 | 0.792 | 0.922 | |
| VGGTGA (Global Alignment)=false, Resolution=518x5182026.02 | — | — | 0.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99 | — | — | — | — | — | — | |
| VGGT# Tokens=2738, K=22026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.042 | 0.02 | 0.045 | 0.025 | 0.813 | 0.923 |