Appearance Rendering on Waymo
29.24PSNRPLANING
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| PLANING2026.01 | 29.24 | 0.887 | 0.278 | |
| Ours#GS=1098.9k, Time=7.2 min2026.03 | 28.94 | 0.88 | 0.277 | |
| ARTDECO#GS=1388.1k, Time=7.8 min2026.03 | 28.63 | 0.865 | 0.252 | |
| PGSRgeometric priors=true2026.01 | 27.42 | 0.865 | 0.306 | |
| OnTheFly-NVS2026.01 | 27.22 | 0.848 | 0.3 | |
| 2DGSgeometric priors=true2026.01 | 26.97 | 0.854 | 0.324 | |
| OnTheFly-NVS#GS=214.3k, Time=1.6 min2026.03 | 26.86 | 0.853 | 0.3 | |
| ARTDECO2026.01 | 26.59 | 0.869 | 0.305 | |
| S3PO-GS2026.01 | 25.33 | 0.821 | 0.395 | |
| S3PO-GS#GS=109.7k, Time=24.4 min2026.03 | 25.09 | 0.809 | 0.437 | |
| HI-SLAM2#GS=190.7k, Time=7.7 min2026.03 | 23.61 | 0.765 | 0.287 | |
| MeshSplattinggeometric priors=true2026.01 | 23.1 | 0.781 | 0.424 | |
| MonoGS#GS=27.2k, Time=13.5 min2026.03 | 19.49 | 0.742 | 0.636 | |
| MonoGS2026.01 | 19.06 | 0.744 | 0.639 |