Absolute Trajectory Estimation on TUM RGB-D
0.015Desk ErrorGO-SLAM
Evaluation results
| Method | Links | |||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GO-SLAMFE=true, BA=true, LC=true2025.12 | 0.015 | — | — | — | — | — | — | — | 0.006 | — | 0.013 | — | — | — | — | — | — | |
| GO-SLAMCalibration=Calibrated2026.01 | 0.016 | 0.089 | 0.028 | 0.025 | 0.026 | 0.052 | 0.019 | 0.048 | 0.01 | 0.035 | — | — | — | — | — | — | — | |
| MASt3R-SLAMCalibration=Calibrated2026.01 | 0.016 | 0.049 | 0.024 | 0.025 | 0.02 | 0.061 | 0.027 | 0.041 | 0.009 | 0.03 | — | — | — | — | — | — | — | |
| GO-SLAMUncalibrated=false2026.04 | 0.016 | 0.089 | 0.028 | 0.025 | 0.026 | 0.052 | 0.019 | 0.048 | 0.01 | 0.035 | — | — | — | — | — | — | — | |
| MASt3R-SLAMUncalibrated=false2026.04 | 0.016 | 0.049 | 0.024 | 0.025 | 0.02 | 0.061 | 0.027 | 0.041 | 0.009 | 0.03 | — | — | — | — | — | — | — | |
| ORB-SLAM3Calibration=Calibrated2026.01 | 0.017 | — | 0.21 | — | 0.034 | — | — | — | 0.009 | — | — | — | — | — | — | — | — | |
| DPV-SLAMCalibration=Calibrated2026.01 | 0.018 | 0.112 | 0.029 | 0.057 | 0.021 | 0.33 | 0.03 | 0.084 | 0.01 | 0.076 | — | — | — | — | — | — | — | |
| DPV-SLAM++Calibration=Calibrated2026.01 | 0.018 | 0.132 | 0.029 | 0.05 | 0.022 | 0.096 | 0.032 | 0.098 | 0.01 | 0.054 | — | — | — | — | — | — | — | |
| DROID-SLAMCalibration=Calibrated2026.01 | 0.018 | 0.111 | 0.042 | 0.021 | 0.016 | 0.049 | 0.026 | 0.048 | 0.012 | 0.038 | — | — | — | — | — | — | — | |
| DPV-SLAMUncalibrated=false2026.04 | 0.018 | 0.112 | 0.029 | 0.057 | 0.021 | 0.33 | 0.03 | 0.084 | 0.01 | 0.076 | — | — | — | — | — | — | — | |
| DPV-SLAM++Uncalibrated=false2026.04 | 0.018 | 0.132 | 0.029 | 0.05 | 0.022 | 0.096 | 0.032 | 0.098 | 0.01 | 0.054 | — | — | — | — | — | — | — | |
| DROID-SLAMUncalibrated=false2026.04 | 0.018 | 0.111 | 0.042 | 0.021 | 0.016 | 0.049 | 0.026 | 0.048 | 0.012 | 0.038 | — | — | — | — | — | — | — | |
| CO-SLAMFE=false, BA=true, LC=false2025.12 | 0.024 | — | — | — | — | — | — | — | 0.017 | — | 0.024 | — | — | — | — | — | — | |
| VGGT-SLAM SL(4)Calibration=Uncalibrated2026.01 | 0.025 | 0.071 | 0.04 | 0.141 | 0.023 | 0.102 | 0.03 | 0.034 | 0.014 | 0.053 | — | — | — | — | — | — | — | |
| VGGT-SLAM 2.0Calibration=Uncalibrated2026.01 | 0.025 | 0.05 | 0.029 | 0.102 | 0.026 | 0.063 | 0.026 | 0.038 | 0.014 | 0.041 | — | — | — | — | — | — | — | |
| ESLAMFE=false, BA=false, LC=false2025.12 | 0.025 | — | — | — | — | — | — | — | 0.011 | — | 0.024 | — | — | — | — | — | — | |
| VGGT-SLAM (SL4)Uncalibrated=true2026.04 | 0.025 | 0.071 | 0.04 | 0.141 | 0.023 | 0.102 | 0.03 | 0.034 | 0.014 | 0.053 | — | — | — | — | — | — | — | |
| VGGT-SLAM++Uncalibrated=true2026.04 | 0.025 | 0.042 | 0.027 | 0.077 | 0.042 | 0.027 | 0.026 | 0.029 | 0.016 | 0.036 | — | — | — | — | — | — | — | |
| NICE-SLAMFE=false, BA=false, LC=false2025.12 | 0.027 | — | — | — | — | — | — | — | 0.018 | — | 0.03 | — | — | — | — | — | — | |
| ViSTA-SLAMCalibration=Uncalibrated2026.01 | 0.03 | 0.104 | 0.03 | 0.07 | 0.052 | 0.067 | 0.023 | 0.08 | 0.015 | 0.052 | — | — | — | — | — | — | — | |
| DROID-SLAMCalibration=Uncalibrated2026.01 | 0.032 | 0.202 | 0.091 | 0.064 | 0.045 | 0.918 | 0.056 | 0.045 | 0.012 | 0.158 | — | — | — | — | — | — | — | |
| DROID-SLAM*Uncalibrated=true2026.04 | 0.032 | 0.202 | 0.091 | 0.064 | 0.045 | 0.918 | 0.056 | 0.045 | 0.012 | 0.18 | — | — | — | — | — | — | — | |
| MASt3R-SLAMCalibration=Uncalibrated2026.01 | 0.035 | 0.07 | 0.055 | 0.056 | 0.035 | 0.118 | 0.041 | 0.114 | 0.02 | 0.06 | — | — | — | — | — | — | — | |
| MASt3R-SLAM*Uncalibrated=true2026.04 | 0.035 | 0.07 | 0.055 | 0.056 | 0.035 | 0.118 | 0.041 | 0.114 | 0.02 | 0.062 | — | — | — | — | — | — | — | |
| VGGT-SLAM Sim(3)Calibration=Uncalibrated2026.01 | 0.04 | 0.123 | 0.055 | 0.254 | 0.022 | 0.088 | 0.041 | 0.032 | 0.016 | 0.074 | — | — | — | — | — | — | — | |
| VGGT-SLAM (Sim3)Uncalibrated=true2026.04 | 0.04 | 0.123 | 0.055 | 0.254 | 0.022 | 0.088 | 0.041 | 0.032 | 0.016 | 0.079 | — | — | — | — | — | — | — | |
| Point-SLAMFE=false, BA=false, LC=false2025.12 | 0.043 | — | — | — | — | — | — | — | 0.013 | — | 0.035 | — | — | — | — | — | — | |
| iMAP*FE=false, BA=false, LC=false2025.12 | 0.049 | — | — | — | — | — | — | — | 0.02 | — | 0.058 | — | — | — | — | — | — | |
| ACE-SLAM (w/ HomMLP)FE=false, BA=false, LC=false2025.12 | 0.08 | — | — | — | — | — | — | — | 0.017 | — | 0.141 | — | — | — | — | — | — | |
| ACE-SLAMFE=false, BA=false, LC=false2025.12 | 0.083 | — | — | — | — | — | — | — | 0.016 | — | 0.082 | — | — | — | — | — | — | |
| ACE-SLAM (w/ SP feat.)FE=false, BA=false, LC=false2025.12 | 0.157 | — | — | — | — | — | — | — | 0.016 | — | 0.12 | — | — | — | — | — | — | |
| DeepV2DCalibration=Calibrated2026.01 | 0.166 | 0.243 | 0.379 | 1.653 | 0.203 | 0.246 | 0.105 | 0.316 | 0.064 | 0.375 | — | — | — | — | — | — | — | |
| DeepV2DUncalibrated=false2026.04 | 0.166 | 0.243 | 0.379 | 1.653 | 0.203 | 0.246 | 0.105 | 0.316 | 0.064 | 0.375 | — | — | — | — | — | — | — | |
| DeepFactorsCalibration=Calibrated2026.01 | 0.17 | 0.159 | 0.253 | 0.169 | 0.305 | 0.364 | 0.043 | 0.601 | 0.035 | 0.233 | — | — | — | — | — | — | — | |
| DeepFactorsUncalibrated=false2026.04 | 0.17 | 0.159 | 0.253 | 0.169 | 0.305 | 0.364 | 0.043 | 0.601 | 0.035 | 0.233 | — | — | — | — | — | — | — | |
| ORB-SLAM3Uncalibrated=false2026.04 | 0.21 | 0.017 | — | 0.034 | — | — | — | 0.009 | — | — | — | — | — | — | — | — | — | |
| 4DGS-SLAM2026.04 | — | — | — | — | — | — | — | — | — | 2.1 | — | 0.58 | 2.9 | 2.6 | 0.61 | 2.7 | 3 | |
| Flow4DGS-SLAM2026.04 | — | — | — | — | — | — | — | — | — | 1.9 | — | 0.7 | 1.8 | 2.4 | 0.48 | 2.5 | 3.6 | |
| MonoGS2026.04 | — | — | — | — | — | — | — | — | — | 15.8 | — | 0.48 | 1.7 | 6.1 | 21.9 | 30.7 | 34.2 | |
| RoDyn-SLAM2026.04 | — | — | — | — | — | — | — | — | — | 5.1 | — | 1.5 | 5.6 | 5.7 | 1.7 | 8.3 | 8.1 | |
| SplaTAM2026.04 | — | — | — | — | — | — | — | — | — | 62.2 | — | 0.52 | 1.5 | 11.8 | 83.2 | 134.2 | 142.3 |