# Camera Localization on C3VD c1\_descending\_t4\_v4 v2

Source: [Camera Localization on C3VD c1\_descending\_t4\_v4 v2](<https://www.sota2.com/research/sota/camera-localization-on-c3vd-c1_descending_t4_v4-v2>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:00:11.887Z

Evaluation of Camera Localization performance on the specific subset c1\_descending\_t4\_v4 v2 of the C3VD dataset, measured using RMSE and Standard Deviation (S.D.).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Camera Localization |
| Dataset (including any stated split) | C3VD c1\_descending\_t4\_v4 v2 |
| Metric | RMSE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 9 of 9 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [RMSE](<https://www.sota2.com/research/sota/camera-localization-on-c3vd-c1_descending_t4_v4-v2.md?metric=RMSE>): Lower is better; unit: SCALAR.

- [Standard Deviation (S.D.)](<https://www.sota2.com/research/sota/camera-localization-on-c3vd-c1_descending_t4_v4-v2.md?metric=Standard%20Deviation%20(S.D.)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | RMSE | Result date | Report paper |
| --- | --- | --- | --- |
| NRGS-SLAM | 6.81 | Not recorded | 6997ea7009c33900fcd764f4 |
| DDS-SLAM | 11.57 | Not recorded | 6997ea7009c33900fcd764f4 |
| 4DTAM | 13.35 | Not recorded | 6997ea7009c33900fcd764f4 |
| NR-SLAM | 16.84 | Not recorded | 6997ea7009c33900fcd764f4 |
| DefSLAM | 21.35 | Not recorded | 6997ea7009c33900fcd764f4 |
| EndoGSLAM | 22.6 | Not recorded | 6997ea7009c33900fcd764f4 |
| S3PO | 24.31 | Not recorded | 6997ea7009c33900fcd764f4 |
| Endo-2DTAM | 30.33 | Not recorded | 6997ea7009c33900fcd764f4 |
| MonoGS | 34.56 | Not recorded | 6997ea7009c33900fcd764f4 |

### NRGS-SLAM

RMSE: 6.81. Result ID: 699b080b5698665ec49a960e.

[Reporting paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### DDS-SLAM

RMSE: 11.57. Result ID: 699b080b5698665ec49a960b.

[Reporting paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

Recorded evaluation configuration: {"Input Modality":"pseudo RGB-D","Semantic Mask":"Removed"}. This record does not assert independent reproduction.

### 4DTAM

RMSE: 13.35. Result ID: 699b080b5698665ec49a960a.

[Reporting paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78ec1e209131cea7b3c2.md>)

[Implementation](<https://muskie82.github.io/4dtam/>)

Recorded evaluation configuration: {"Input Modality":"pseudo RGB-D"}. This record does not assert independent reproduction.

### NR-SLAM

RMSE: 16.84. Result ID: 699b080b5698665ec49a9607.

[Reporting paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

Recorded evaluation configuration: {"Type":"Traditional Monocular non-rigid SLAM"}. This record does not assert independent reproduction.

### DefSLAM

RMSE: 21.35. Result ID: 699b080b5698665ec49a9606.

[Reporting paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68371e209131cea1adcd.md>)

Recorded evaluation configuration: {"Type":"Traditional Monocular non-rigid SLAM"}. This record does not assert independent reproduction.

### EndoGSLAM

RMSE: 22.6. Result ID: 699b080b5698665ec49a960c.

[Reporting paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72a11e209131cea57a82.md>)

[Implementation](<https://endogslam.loping151.com/>)

Recorded evaluation configuration: {"Input Modality":"pseudo RGB-D"}. This record does not assert independent reproduction.

### S3PO

RMSE: 24.31. Result ID: 699b080b5698665ec49a9609.

[Reporting paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75d41e209131cea6a192.md>)

Recorded evaluation configuration: {"Input Modality":"RGB-only"}. This record does not assert independent reproduction.

### Endo-2DTAM

RMSE: 30.33. Result ID: 699b080b5698665ec49a960d.

[Reporting paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76c51e209131cea6ee71.md>)

Recorded evaluation configuration: {"Input Modality":"pseudo RGB-D"}. This record does not assert independent reproduction.

### MonoGS

RMSE: 34.56. Result ID: 699b080b5698665ec49a9608.

[Reporting paper](<https://www.sota2.com/research/paper/6997ea7009c33900fcd764f4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72d91e209131cea58e51.md>)

Recorded evaluation configuration: {"Input Modality":"Monocular"}. This record does not assert independent reproduction.

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