Appearance Reconstruction on Waymo 8 scenes
28.45PSNRMCGS-SLAM
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| MCGS-SLAMScene=1527062025.09 | 28.45 | 79.7 | 0.33 | |
| MCGS-SLAMScene=1067622025.09 | 27.7 | 81.9 | 0.262 | |
| GLORIE-SLAMScene=1067622025.09 | 27.35 | 91.8 | 0.272 | |
| DROID-SplatScene=1067622025.09 | 27.21 | 86.4 | 0.281 | |
| MCGS-SLAMScene=1347632025.09 | 27.2 | 81.3 | 0.233 | |
| MCGS-SLAMScene=1006132025.09 | 27.09 | 83 | 0.223 | |
| MCGS-SLAMScene=1634532025.09 | 26.92 | 82.9 | 0.234 | |
| DROID-SplatScene=1586862025.09 | 26.81 | 85 | 0.297 | |
| DROID-SplatScene=1006132025.09 | 26.77 | 82.9 | 0.273 | |
| MCGS-SLAMScene=Avg.2025.09 | 26.5 | 80.1 | 0.293 | |
| MCGS-SLAMScene=1534952025.09 | 26.48 | 81.3 | 0.231 | |
| MCGS-SLAMScene=1323842025.09 | 26.26 | 82.6 | 0.284 | |
| DROID-SplatScene=1347632025.09 | 26.2 | 79.2 | 0.376 | |
| DROID-SplatScene=1527062025.09 | 25.92 | 78.2 | 0.512 | |
| GLORIE-SLAMScene=1006132025.09 | 25.78 | 91.6 | 0.282 | |
| GLORIE-SLAMScene=1347632025.09 | 25.71 | 88.3 | 0.365 | |
| DROID-SplatScene=Avg.2025.09 | 25.62 | 80.1 | 0.382 | |
| GLORIE-SLAMScene=1323842025.09 | 25.52 | 90.2 | 0.287 | |
| GLORIE-SLAMScene=Avg.2025.09 | 25.23 | 90 | 0.303 | |
| GLORIE-SLAMScene=1586862025.09 | 25.09 | 90.8 | 0.291 | |
| DROID-SplatScene=1323842025.09 | 25.02 | 82.3 | 0.384 | |
| GLORIE-SLAMScene=1527062025.09 | 24.9 | 87.8 | 0.338 | |
| DROID-SplatScene=1534952025.09 | 24.01 | 74.8 | 0.482 | |
| GLORIE-SLAMScene=1534952025.09 | 23.79 | 89.1 | 0.309 | |
| GLORIE-SLAMScene=1634532025.09 | 23.72 | 90.3 | 0.279 | |
| MonoGSScene=1323842025.09 | 23.53 | 86.2 | 0.421 | |
| DROID-SplatScene=1634532025.09 | 23.02 | 72 | 0.451 | |
| MonoGSScene=1527062025.09 | 22.34 | 78.4 | 0.641 | |
| MonoGSScene=1067622025.09 | 22.31 | 74.1 | 0.503 | |
| MCGS-SLAMScene=1586862025.09 | 21.91 | 68.2 | 0.547 | |
| MonoGSScene=1586862025.09 | 21.87 | 68.4 | 0.514 | |
| MonoGSScene=Avg.2025.09 | 21.57 | 73.7 | 0.577 | |
| Photo-SLAMScene=1586862025.09 | 21.44 | 67.4 | 0.367 | |
| MonoGSScene=1347632025.09 | 21.41 | 62 | 0.625 | |
| Photo-SLAMScene=1347632025.09 | 21.28 | 62.4 | 0.471 | |
| MonoGSScene=1534952025.09 | 21.08 | 77.2 | 0.646 | |
| Photo-SLAMScene=1527062025.09 | 20.84 | 75.9 | 0.466 | |
| MonoGSScene=1006132025.09 | 20.58 | 67.4 | 0.607 | |
| Photo-SLAMScene=1323842025.09 | 20.49 | 82.4 | 0.307 | |
| Photo-SLAMScene=1067622025.09 | 20.26 | 71.2 | 0.44 | |
| Photo-SLAMScene=Avg.2025.09 | 20.08 | 71.5 | 0.434 | |
| MonoGSScene=1634532025.09 | 19.41 | 75.3 | 0.657 | |
| Photo-SLAMScene=1634532025.09 | 19.12 | 75.8 | 0.444 | |
| Photo-SLAMScene=1006132025.09 | 19.03 | 64 | 0.527 | |
| Photo-SLAMScene=1534952025.09 | 18.14 | 72.6 | 0.453 | |
| NICER-SLAMScene=1634532025.09 | 16.41 | 71.2 | 0.657 | |
| NICER-SLAMScene=1323842025.09 | 15.48 | 77.5 | 0.518 | |
| NICER-SLAMScene=1534952025.09 | 13.25 | 54.1 | 0.691 | |
| NICER-SLAMScene=1067622025.09 | 13.09 | 58.7 | 0.626 | |
| NICER-SLAMScene=1006132025.09 | 12.91 | 49.8 | 0.695 | |
| NICER-SLAMScene=Avg.2025.09 | 12.87 | 56.2 | 0.677 | |
| NICER-SLAMScene=1586862025.09 | 11.68 | 43.8 | 0.686 | |
| NICER-SLAMScene=1527062025.09 | 11.32 | 61.1 | 0.754 | |
| NICER-SLAMScene=1347632025.09 | 8.79 | 33 | 0.791 |