Appearance Rendering on ScanNet V2
30.47PSNRSING3R-SLAM
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SING3R-SLAMInput modality=RGB input2025.11 | 30.47 | 89 | 0.21 | |
| Splat-SLAMInput modality=RGB input2025.11 | 29.48 | 85 | 0.18 | |
| HI-SLAM2Input modality=RGB input2025.11 | 29.27 | 88 | 0.24 | |
| PLANINGTime (min)=7.42026.01 | 28.83 | 88.2 | 0.222 | |
| ARTDECOTime (min)=6.92026.01 | 28.44 | 87.7 | 0.232 | |
| 2DGSgeometric priors=true, Time (min)=31.92026.01 | 27.74 | 87.3 | 0.234 | |
| PGSRgeometric priors=true, Time (min)=39.92026.01 | 27.73 | 88 | 0.233 | |
| Gaussian-SLAMInput modality=RGB-D input2025.11 | 27.67 | 92 | 0.25 | |
| Ours#GS=632.2k, Time=4.7 min2026.03 | 27.08 | 90.4 | 0.272 | |
| ARTDECO#GS=936.7k, Time=5.1 min2026.03 | 26.03 | 90.2 | 0.278 | |
| MeshSplattinggeometric priors=true, Time (min)=24.62026.01 | 25.64 | 83 | 0.351 | |
| S3PO-GSTime (min)=24.52026.01 | 24.37 | 82.9 | 0.476 | |
| S3PO-GS#GS=29.9k, Time=17.1 min2026.03 | 24.05 | 85 | 0.439 | |
| HI-SLAM2#GS=152.1k, Time=6.9 min2026.03 | 23.75 | 82 | 0.295 | |
| OnTheFly-NVS#GS=210.5k, Time=1.4 min2026.03 | 23.38 | 86.1 | 0.348 | |
| OnTheFly-NVSTime (min)=1.32026.01 | 23.33 | 82.3 | 0.376 | |
| MonoGSTime (min)=8.32026.01 | 22.17 | 80.6 | 0.542 | |
| MonoGS#GS=25.2k, Time=10.2 min2026.03 | 21.88 | 82.7 | 0.508 | |
| SplaTAMInput modality=RGB-D input2025.11 | 20.42 | 78 | 0.38 |