Camera Pose Estimation on ScanNet
0.011RPE (t)CogniMap3D
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CogniMap3DCategory=III (Feed-forward VFM methods)2026.01 | 0.011 | — | — | — | — | — | — | — | — | — | 0.019 | — | 0.331 | — | — | — | — | — | — | — | |
| 4RC2026.02 | 0.012 | — | — | — | — | — | — | — | — | — | 0.032 | — | 0.437 | — | — | — | — | — | — | — | |
| π³Stream=false2025.12 | 0.012 | — | — | — | — | — | — | — | — | — | 0.03 | — | 0.346 | — | — | — | — | — | — | — | |
| π³+OursStream=true2025.12 | 0.012 | — | — | — | — | — | — | — | — | — | 0.031 | — | 0.339 | — | — | — | — | — | — | — | |
| Pi32026.02 | 0.013 | — | — | — | — | — | — | — | — | — | 0.031 | — | 0.346 | — | — | — | — | — | — | — | |
| π³2026.02 | 0.013 | — | — | — | — | — | — | — | — | — | 0.031 | — | 0.347 | — | — | — | — | — | — | — | |
| TrajVG2026.02 | 0.013 | — | — | — | — | — | — | — | — | — | 0.03 | — | 0.351 | — | — | — | — | — | — | — | |
| Pi32026.03 | 0.013 | — | — | — | — | — | — | — | — | — | — | — | 0.347 | 0.031 | — | — | — | — | — | — | |
| pi^3Model Category=Offline Models2026.05 | 0.013 | — | — | — | — | — | — | — | — | — | — | — | 0.347 | — | — | — | 0.031 | — | — | — | |
| TCO-VGGTStride=1, Compat=✓, Depth=✓2026.04 | 0.0139 | — | — | — | — | — | — | — | — | — | — | — | 0.3731 | — | — | — | 0.0072 | — | — | — | |
| V-DPM2026.02 | 0.014 | — | — | — | — | — | — | — | — | — | 0.035 | — | 0.41 | — | — | — | — | — | — | — | |
| VGGT+OursStream=true2025.12 | 0.014 | — | — | — | — | — | — | — | — | — | 0.035 | — | 0.354 | — | — | — | — | — | — | — | |
| DAGE2026.03 | 0.014 | — | — | — | — | — | — | — | — | — | — | — | 0.389 | 0.031 | — | — | — | — | — | — | |
| VGGT2026.02 | 0.015 | — | — | — | — | — | — | — | — | — | 0.036 | — | 0.376 | — | — | — | — | — | — | — | |
| VGGT2026.02 | 0.015 | — | — | — | — | — | — | — | — | — | 0.035 | — | 0.382 | — | — | — | — | — | — | — | |
| VGGTType=FA2026.01 | 0.015 | — | — | — | — | — | — | — | — | — | 0.035 | — | 0.377 | — | — | — | — | — | — | — | |
| VGGTCategory=III (Feed-forward VFM methods)2026.01 | 0.015 | — | — | — | — | — | — | — | — | — | 0.023 | — | 0.326 | — | — | — | — | — | — | — | |
| VGGTStream=false2025.12 | 0.015 | — | — | — | — | — | — | — | — | — | 0.035 | — | 0.381 | — | — | — | — | — | — | — | |
| VGGT2026.03 | 0.015 | — | — | — | — | — | — | — | — | — | — | — | 0.382 | 0.035 | — | — | — | — | — | — | |
| VGGT2026.03 | 0.015 | — | — | — | — | — | — | — | — | — | — | — | 0.377 | — | — | — | 0.035 | — | — | — | |
| VGGTType=Offline2026.03 | 0.015 | — | — | — | — | — | — | — | — | — | — | — | 0.377 | — | — | — | 0.036 | — | — | — | |
| VGGT2026.03 | 0.015 | — | — | — | — | — | — | — | — | — | — | — | 0.38 | — | — | — | 0.035 | — | — | — | |
| VGGTType=Dense-view2025.07 | 0.015 | — | — | — | — | — | — | — | — | — | — | — | 0.377 | — | — | — | 0.035 | — | — | — | |
| VGGTModel Category=Offline Models2026.05 | 0.015 | — | — | — | — | — | — | — | — | — | — | — | 0.38 | — | — | — | 0.035 | — | — | — | |
| VGGTStride=1, Compat=✗, Depth=✗2026.04 | 0.016 | — | — | — | — | — | — | — | — | — | — | — | 0.3781 | — | — | — | 0.0094 | — | — | — | |
| Easi3RType=FA2026.01 | 0.017 | — | — | — | — | — | — | — | — | — | 0.061 | — | 0.525 | — | — | — | — | — | — | — | |
| Pi3Resolution=252px2026.03 | 0.017 | — | — | — | — | — | — | — | — | — | — | — | 0.438 | 0.045 | — | — | — | — | — | — | |
| OmniStreamParam.=400M2026.03 | 0.017 | — | — | — | — | — | — | — | — | — | — | — | 0.659 | — | 0.076 | — | — | — | — | — | |
| Easi3R2026.03 | 0.017 | — | — | — | — | — | — | — | — | — | — | — | 0.525 | — | — | — | 0.061 | — | — | — | |
| MonST3R2026.02 | 0.018 | — | — | — | — | — | — | — | — | — | 0.077 | — | 0.529 | — | — | — | — | — | — | — | |
| MonST3R-GAType=Optim2026.01 | 0.018 | — | — | — | — | — | — | — | — | — | 0.077 | — | 0.529 | — | — | — | — | — | — | — | |
| LEAP-VOCategory=I (SLAM-based methods requiring intrinsics)2026.01 | 0.018 | — | — | — | — | — | — | — | — | — | 0.07 | — | 0.535 | — | — | — | — | — | — | — | |
| MonST3R-GACategory=II (Optimization-based VFM methods)2026.01 | 0.018 | — | — | — | — | — | — | — | — | — | 0.077 | — | 0.529 | — | — | — | — | — | — | — | |
| MonST3R2026.03 | 0.018 | — | — | — | — | — | — | — | — | — | — | — | 0.529 | — | — | — | 0.077 | — | — | — | |
| MonST3R-GAType=Optim2026.03 | 0.018 | — | — | — | — | — | — | — | — | — | — | — | 0.529 | — | — | — | 0.077 | — | — | — | |
| MonST3R-GAType=Pair-wise2025.07 | 0.018 | — | — | — | — | — | — | — | — | — | — | — | 0.529 | — | — | — | 0.077 | — | — | — | |
| MonST3R-GAModel Category=Offline Models2026.05 | 0.018 | — | — | — | — | — | — | — | — | — | — | — | 0.529 | — | — | — | 0.077 | — | — | — | |
| OnlineX2026.03 | 0.019 | — | — | — | — | — | — | — | — | — | — | 8.5 | 0.55 | — | — | — | — | — | — | — | |
| StreamVGGTType=Online2026.03 | 0.019 | — | — | — | — | — | — | — | — | — | — | — | 0.477 | — | — | — | 0.048 | — | — | — | |
| StreamVGGTType=Streaming2025.07 | 0.019 | — | — | — | — | — | — | — | — | — | — | — | 0.557 | — | — | — | 0.048 | — | — | — | |
| TCO-VGGTStride=4, Compat=✓, Depth=✓2026.04 | 0.019 | — | — | — | — | — | — | — | — | — | — | — | 0.6026 | — | — | — | 0.0106 | — | — | — | |
| MASt3R2026.02 | 0.02 | — | — | — | — | — | — | — | — | — | 0.078 | — | 0.475 | — | — | — | — | — | — | — | |
| MASt3R-GAType=Optim2026.01 | 0.02 | — | — | — | — | — | — | — | — | — | 0.078 | — | 0.475 | — | — | — | — | — | — | — | |
| TTSA3RType=Stream2026.01 | 0.02 | — | — | — | — | — | — | — | — | — | 0.057 | — | 0.588 | — | — | — | — | — | — | — | |
| MASt3R-GACategory=II (Optimization-based VFM methods)2026.01 | 0.02 | — | — | — | — | — | — | — | — | — | 0.078 | — | 0.475 | — | — | — | — | — | — | — | |
| WinT3RStream=true2025.12 | 0.02 | — | — | — | — | — | — | — | — | — | 0.062 | — | 0.69 | — | — | — | — | — | — | — | |
| MASt3R2026.03 | 0.02 | — | — | — | — | — | — | — | — | — | — | — | 0.475 | — | — | — | 0.078 | — | — | — | |
| MASt3R-GAType=Optim2026.03 | 0.02 | — | — | — | — | — | — | — | — | — | — | — | 0.475 | — | — | — | 0.078 | — | — | — | |
| MASt3R-GAType=Pair-wise2025.07 | 0.02 | — | — | — | — | — | — | — | — | — | — | — | 0.475 | — | — | — | 0.078 | — | — | — | |
| MASt3R-GAModel Category=Offline Models2026.05 | 0.02 | — | — | — | — | — | — | — | — | — | — | — | 0.475 | — | — | — | 0.078 | — | — | — | |
| TTT3RType=Stream2026.01 | 0.021 | — | — | — | — | — | — | — | — | — | 0.064 | — | 0.637 | — | — | — | — | — | — | — | |
| STream3RβStream=true2025.12 | 0.021 | — | — | — | — | — | — | — | — | — | 0.052 | — | 0.85 | — | — | — | — | — | — | — | |
| TTT3RStream=true2025.12 | 0.021 | — | — | — | — | — | — | — | — | — | 0.064 | — | 0.592 | — | — | — | — | — | — | — | |
| TTT3R2026.03 | 0.021 | — | — | — | — | — | — | — | — | — | — | — | 0.592 | — | — | — | 0.064 | — | — | — | |
| SSR2026.03 | 0.021 | — | — | — | — | — | — | — | — | — | — | — | 0.721 | — | — | — | 0.059 | — | — | — | |
| STream3RType=Online2026.03 | 0.021 | — | — | — | — | — | — | — | — | — | — | — | 0.85 | — | — | — | 0.052 | — | — | — | |
| VGGTStride=4, Compat=✗, Depth=✗2026.04 | 0.0215 | — | — | — | — | — | — | — | — | — | — | — | 0.5706 | — | — | — | 0.0127 | — | — | — | |
| CUT3R2026.02 | 0.022 | — | — | — | — | — | — | — | — | — | 0.099 | — | 0.6 | — | — | — | — | — | — | — | |
| CUT3R2026.02 | 0.022 | — | — | — | — | — | — | — | — | — | 0.094 | — | 0.629 | — | — | — | — | — | — | — | |
| CUT3RType=Stream2026.01 | 0.022 | — | — | — | — | — | — | — | — | — | 0.099 | — | 0.6 | — | — | — | — | — | — | — | |
| CUT3RCategory=III (Feed-forward VFM methods)2026.01 | 0.022 | — | — | — | — | — | — | — | — | — | 0.099 | — | 0.6 | — | — | — | — | — | — | — | |
| CUT3RStream=true2025.12 | 0.022 | — | — | — | — | — | — | — | — | — | 0.099 | — | 0.6 | — | — | — | — | — | — | — | |
| CUT3R2026.03 | 0.022 | — | — | — | — | — | — | — | — | — | — | 9.9 | 0.6 | — | — | — | — | — | — | — | |
| CUT3R2026.03 | 0.022 | — | — | — | — | — | — | — | — | — | — | — | 0.629 | 0.094 | — | — | — | — | — | — | |
| Cut3RParam.=600M2026.03 | 0.022 | — | — | — | — | — | — | — | — | — | — | — | 0.6 | — | 0.099 | — | — | — | — | — | |
| CUT3R2026.03 | 0.022 | — | — | — | — | — | — | — | — | — | — | — | 0.6 | — | — | — | 0.099 | — | — | — | |
| CUT3RType=Online2026.03 | 0.022 | — | — | — | — | — | — | — | — | — | — | — | 0.6 | — | — | — | 0.099 | — | — | — | |
| StreamVGGT-STACType=Online2026.03 | 0.022 | — | — | — | — | — | — | — | — | — | — | — | 0.531 | — | — | — | 0.059 | — | — | — | |
| CUT3R2026.03 | 0.022 | — | — | — | — | — | — | — | — | — | — | — | 0.6 | — | — | — | 0.099 | — | — | — | |
| CUT3RType=Streaming2025.07 | 0.022 | — | — | — | — | — | — | — | — | — | — | — | 0.6 | — | — | — | 0.099 | — | — | — | |
| CUT3RModel Category=Streaming Models2026.05 | 0.022 | — | — | — | — | — | — | — | — | — | — | — | 0.59 | — | — | — | 0.096 | — | — | — | |
| Spann3R2026.02 | 0.023 | — | — | — | — | — | — | — | — | — | 0.096 | — | 0.661 | — | — | — | — | — | — | — | |
| FLARE2026.02 | 0.023 | — | — | — | — | — | — | — | — | — | 0.064 | — | 0.971 | — | — | — | — | — | — | — | |
| Spann3RType=Stream2026.01 | 0.023 | — | — | — | — | — | — | — | — | — | 0.096 | — | 0.661 | — | — | — | — | — | — | — | |
| Spann3RCategory=III (Feed-forward VFM methods)2026.01 | 0.023 | — | — | — | — | — | — | — | — | — | 0.096 | — | 0.661 | — | — | — | — | — | — | — | |
| Spann3RStream=true2025.12 | 0.023 | — | — | — | — | — | — | — | — | — | 0.096 | — | 0.661 | — | — | — | — | — | — | — | |
| Spann3R2026.03 | 0.023 | — | — | — | — | — | — | — | — | — | — | 9.6 | 0.661 | — | — | — | — | — | — | — | |
| FLARE2026.03 | 0.023 | — | — | — | — | — | — | — | — | — | — | — | 0.971 | 0.064 | — | — | — | — | — | — | |
| Span3RParam.=600M2026.03 | 0.023 | — | — | — | — | — | — | — | — | — | — | — | 0.661 | — | 0.096 | — | — | — | — | — | |
| Spann3R2026.03 | 0.023 | — | — | — | — | — | — | — | — | — | — | — | 0.661 | — | — | — | 0.096 | — | — | — | |
| Spann3RType=Online2026.03 | 0.023 | — | — | — | — | — | — | — | — | — | — | — | 0.661 | — | — | — | 0.096 | — | — | — | |
| Complet4R2026.03 | 0.023 | — | — | — | — | — | — | — | — | — | — | — | 0.549 | — | — | — | 0.05 | — | — | — | |
| Spann3RType=Streaming2025.07 | 0.023 | — | — | — | — | — | — | — | — | — | — | — | 0.661 | — | — | — | 0.096 | — | — | — | |
| FLAREModel Category=Offline Models2026.05 | 0.023 | — | — | — | — | — | — | — | — | — | — | — | 0.971 | — | — | — | 0.064 | — | — | — | |
| Spann3RModel Category=Streaming Models2026.05 | 0.023 | — | — | — | — | — | — | — | — | — | — | — | 0.661 | — | — | — | 0.096 | — | — | — | |
| Cambrian-PModel Category=Streaming Models2026.05 | 0.023 | — | — | — | — | — | — | — | — | — | — | — | 0.88 | — | — | — | 0.078 | — | — | — | |
| STream3R-STACType=Online2026.03 | 0.025 | — | — | — | — | — | — | — | — | — | — | — | 0.983 | — | — | — | 0.053 | — | — | — | |
| MapAnythingModel Category=Offline Models2026.05 | 0.025 | — | — | — | — | — | — | — | — | — | — | — | 0.72 | — | — | — | 0.052 | — | — | — | |
| Pow3RStride=1, Compat=✗, Depth=✓2026.04 | 0.0258 | — | — | — | — | — | — | — | — | — | — | — | 0.4614 | — | — | — | 0.0172 | — | — | — | |
| DUSt3R2026.02 | 0.028 | — | — | — | — | — | — | — | — | — | 0.081 | — | 0.784 | — | — | — | — | — | — | — | |
| Aether2026.02 | 0.028 | — | — | — | — | — | — | — | — | — | 0.176 | — | 1.204 | — | — | — | — | — | — | — | |
| DUSt3R-GAType=Optim2026.01 | 0.028 | — | — | — | — | — | — | — | — | — | 0.081 | — | 0.784 | — | — | — | — | — | — | — | |
| DUSt3R-GACategory=II (Optimization-based VFM methods)2026.01 | 0.028 | — | — | — | — | — | — | — | — | — | 0.081 | — | 0.784 | — | — | — | — | — | — | — | |
| AETHER2026.03 | 0.028 | — | — | — | — | — | — | — | — | — | — | — | 1.204 | — | — | — | 0.176 | — | — | — | |
| DUST3R-GAType=Optim2026.03 | 0.028 | — | — | — | — | — | — | — | — | — | — | — | 0.784 | — | — | — | 0.081 | — | — | — | |
| DUSt3R-GAType=Pair-wise2025.07 | 0.028 | — | — | — | — | — | — | — | — | — | — | — | 0.784 | — | — | — | 0.081 | — | — | — | |
| DUSt3R-GAModel Category=Offline Models2026.05 | 0.028 | — | — | — | — | — | — | — | — | — | — | — | 0.784 | — | — | — | 0.081 | — | — | — | |
| FastVGGTInput sequence length=1000 images2026.03 | 0.03 | — | — | — | — | — | — | — | — | — | — | — | 0.656 | — | — | — | 0.162 | 3.805 | 5.2 | — | |
| StreamVGGT-W8Type=Online2026.03 | 0.03 | — | — | — | — | — | — | — | — | — | — | — | 1.459 | — | — | — | 0.112 | — | — | — | |
| Pow3RStride=4, Compat=✗, Depth=✓2026.04 | 0.0335 | — | — | — | — | — | — | — | — | — | — | — | 0.7114 | — | — | — | 0.0201 | — | — | — |