Appearance Rendering on FAST-LIVO2
33.97PSNRPLANING
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| PLANING2026.01 | 33.97 | 93.8 | 0.18 | |
| ARTDECO2026.01 | 32.86 | 92.6 | 0.21 | |
| 2DGSgeometric priors=true2026.01 | 29.24 | 86.7 | 0.287 | |
| PGSRgeometric priors=true2026.01 | 29.22 | 87 | 0.28 | |
| MeshSplattinggeometric priors=true2026.01 | 25.78 | 78.9 | 0.397 | |
| Ours#GS=1098.9k, Time=7.2 min2026.03 | 25.48 | 79.9 | 0.293 | |
| S3PO-GS2026.01 | 24.99 | 77.6 | 0.419 | |
| ARTDECO#GS=1388.1k, Time=7.8 min2026.03 | 24.71 | 77.9 | 0.294 | |
| VIGS-SLAM2025.12 | 23.15 | 72.9 | 0.487 | |
| HI-SLAM2#GS=190.7k, Time=7.7 min2026.03 | 22.4 | 72.8 | 0.354 | |
| OnTheFly-NVS2026.01 | 21.92 | 73.5 | 0.443 | |
| HI-SLAM22025.12 | 21.49 | 69.2 | 0.56 | |
| S3PO-GS#GS=109.7k, Time=24.4 min2026.03 | 20.62 | 64.5 | 0.499 | |
| MonoGS2026.01 | 19.8 | 69.4 | 0.649 | |
| OnTheFly-NVS#GS=214.3k, Time=1.6 min2026.03 | 19.22 | 62.1 | 0.47 | |
| MonoGS#GS=27.2k, Time=13.5 min2026.03 | 18.37 | 58.9 | 0.719 | |
| Splat-SLAM2025.12 | 13.96 | 48.4 | 0.745 |