Camera Pose Estimation on Oxford Spires
9.38ATEHorizonStream
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| HorizonStreamProcessing Mode=Online Forward2026.05 | 9.38 | 2.81 | 0.76 | 10.87 | 2.84 | 1.43 | 2.17 | 6.71 | 11.62 | 33.53 | 4.7 | 1.68 | 31.59 | |
| Lingbot-MapProcessing Mode=Online Forward2026.05 | 15.46 | 2.17 | 3.61 | 19.99 | 12.01 | 9.99 | 6.23 | 8.23 | 14.59 | 39.67 | 15.79 | 12.86 | 40.38 | |
| COLMAPProcessing Mode=Optimization-based2026.05 | 15.57 | 0.06 | 0.05 | 0.05 | 0.32 | 0.17 | 0.26 | 0.21 | 0.06 | — | 39.55 | 14.99 | — | |
| Anchor3R-OnlineProcessing Type=Streaming2026.06 | 17.661 | — | — | — | — | — | — | — | — | — | — | — | — | |
| LoGeRProcessing Mode=Offline2026.05 | 18.7 | 6.76 | 9.37 | 5.46 | 7.66 | 6.16 | 5.62 | 26.82 | 26.9 | 32.92 | 19.33 | 3.91 | 73.46 | |
| LoGeR*Processing Mode=Offline2026.05 | 18.7 | 6.76 | 9.37 | 5.46 | 7.66 | 6.16 | 5.62 | 26.82 | 26.9 | 32.92 | 19.33 | 3.91 | 73.46 | |
| LongStreamMethod Type=Streaming2026.02 | 19.815 | — | — | — | — | — | — | — | — | — | — | — | — | |
| LongStreamProcessing Type=Streaming2026.06 | 19.815 | — | — | — | — | — | — | — | — | — | — | — | — | |
| LongStreamProcessing Mode=Online Forward2026.05 | 19.82 | 19.69 | 10.06 | 13.49 | 30.49 | 18.29 | 14.25 | 30.92 | 14.54 | 16.45 | 23.45 | 20.33 | 79.54 | |
| VGGT-LongProcessing Mode=Offline2026.05 | 21.9 | 6.55 | 14.32 | 13.2 | 40.27 | 11.95 | 6.47 | 24.77 | 19.2 | 10.36 | 19.4 | 15.75 | 80.54 | |
| VGGT-SLAMProcessing Mode=Optimization-based2026.05 | 31 | — | 13.53 | 14.64 | — | 29.12 | — | 40.04 | 19.2 | 10.36 | — | — | 80.54 | |
| VGGT-SLAMMethod Type=Optimization-based2026.02 | 31.003 | — | — | — | — | — | — | — | — | — | — | — | — | |
| VGGT-SLAMProcessing Type=Optimization-based2026.06 | 31.003 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DROID-SLAMProcessing Mode=Optimization-based2026.05 | 31.08 | 20.96 | 23.09 | 20.39 | 38.3 | 17.2 | 23.86 | 30.39 | 46.78 | 47.08 | 16.97 | 16.04 | 71.85 | |
| InfiniteVGGTProcessing Mode=Online Forward2026.05 | 31.82 | 25.71 | 27.24 | 27.94 | 28.33 | 25.81 | 24.04 | 35.69 | 44.49 | 19.33 | 38.59 | 12.83 | 71.81 | |
| MASt3R-SfMProcessing Mode=Optimization-based2026.05 | 32.13 | 21.55 | 13.57 | 32.53 | 36.84 | 23.14 | 27.35 | 25.84 | 37.22 | 47.8 | 35.55 | 14.71 | 69.48 | |
| CUT3RMethod Type=Streaming2026.02 | 32.44 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CUT3RProcessing Mode=Online Forward2026.05 | 32.44 | 30.68 | 23.73 | 31.31 | 30.8 | 25.32 | 26.21 | 31.15 | 37.09 | 38.71 | 37.25 | 14.33 | 62.68 | |
| CUT3RProcessing Type=Streaming2026.06 | 32.44 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPVOProcessing Mode=Optimization-based2026.05 | 34.03 | 14.31 | 31.6 | 39.26 | 34.79 | 26.91 | 28.14 | 35.37 | 44.76 | 47.96 | 19.98 | 16 | 69.31 | |
| TTT3RProcessing Mode=Online Forward2026.05 | 36.21 | 27.75 | 23.39 | 40.99 | 42.39 | 28.17 | 26.73 | 37.07 | 44.93 | 38.34 | 36.69 | 14.92 | 73.21 | |
| TTT3RMethod Type=Streaming2026.02 | 36.214 | — | — | — | — | — | — | — | — | — | — | — | — | |
| TTT3RProcessing Type=Streaming2026.06 | 36.214 | — | — | — | — | — | — | — | — | — | — | — | — | |
| FastVGGTMethod Type=Optimization-based2026.02 | 36.577 | — | — | — | — | — | — | — | — | — | — | — | — | |
| FastVGGTProcessing Type=Optimization-based2026.06 | 36.577 | — | — | — | — | — | — | — | — | — | — | — | — | |
| FastVGGTProcessing Mode=Offline2026.05 | 36.58 | 24.1 | 32.54 | 39.93 | 37.07 | 26.86 | 26.57 | 33.04 | — | 38.14 | 40.9 | 15.79 | 78.52 | |
| StreamVGGTProcessing Mode=Online Forward2026.05 | 37.25 | 31.97 | 31.09 | 43.55 | 42.15 | 29.09 | 28.24 | 36.08 | 42.57 | 30.16 | 41.23 | 15.74 | 75.18 | |
| StreamVGGTMethod Type=Streaming2026.02 | 37.255 | — | — | — | — | — | — | — | — | — | — | — | — | |
| StreamVGGTProcessing Type=Streaming2026.06 | 37.255 | — | — | — | — | — | — | — | — | — | — | — | — | |
| STream3RMethod Type=Streaming2026.02 | 37.569 | — | — | — | — | — | — | — | — | — | — | — | — | |
| STream3RProcessing Type=Streaming2026.06 | 37.569 | — | — | — | — | — | — | — | — | — | — | — | — | |
| STream3RProcessing Mode=Online Forward2026.05 | 37.57 | 33.08 | 32.68 | 43.54 | 41.82 | 28.4 | 28.37 | 36.21 | 41.72 | 31.96 | 44.98 | 15.47 | 72.6 | |
| MASt3R-SLAMMethod Type=Optimization-based2026.02 | 37.728 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MASt3R-SLAMProcessing Type=Optimization-based2026.06 | 37.728 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MASt3R-SLAMProcessing Mode=Optimization-based2026.05 | 37.73 | 15.97 | 31.89 | — | — | 20.05 | 21.44 | — | 45.48 | 50.62 | — | — | — |