Camera Pose Estimation on TerraSky3D (Individual Scenes)
93.5AUC (5° Error)VGGT + Ref+BA
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| VGGT + Ref+BAScene=Salzburg Rechte Altstadt, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 93.5 | 91.1 | |
| VGGT + EPOScene=Salzburg Rechte Altstadt, Optimization=Edge-based Pose Optimization2026.07 | 90.7 | 20.8 | |
| VGGT + EPOScene=Graz Church, Optimization=Edge-based Pose Optimization2026.07 | 90.5 | 51 | |
| VGGT + EPOScene=Munich Frauenkirche, Optimization=Edge-based Pose Optimization2026.07 | 89.7 | 46 | |
| VGGT + EPOScene=Munich Theatinerkirche, Optimization=Edge-based Pose Optimization2026.07 | 89.4 | 42.6 | |
| VGGT + Ref+BAScene=Munich Frauenkirche, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 87.7 | 206.1 | |
| VGGT + Ref+BAScene=Graz Church, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 87.4 | 1,051.4 | |
| VGGT + BAScene=Salzburg Rechte Altstadt, Optimization=Bundle Adjustment2026.07 | 86.4 | 42.1 | |
| VGGT + EPOScene=Salzburg Andräkirche, Optimization=Edge-based Pose Optimization2026.07 | 85.3 | 29.6 | |
| VGGT + BAScene=Munich Frauenkirche, Optimization=Bundle Adjustment2026.07 | 83.5 | 107 | |
| VGGT + EPOScene=Vienna State Opera, Optimization=Edge-based Pose Optimization2026.07 | 82 | 44.9 | |
| VGGT + BAScene=Graz Church, Optimization=Bundle Adjustment2026.07 | 81.6 | 929.7 | |
| VGGT + EPOScene=Mean, Optimization=Edge-based Pose Optimization2026.07 | 79.2 | 44.6 | |
| VGGT + Ref+BAScene=Munich Marienplatz, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 78.6 | 257.5 | |
| VGGT + Ref+BAScene=Munich Theatinerkirche, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 77.7 | 341.7 | |
| VGGT + Ref+BAScene=Salzburg Andräkirche, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 76.1 | 203.1 | |
| VGGT + BAScene=Salzburg Andräkirche, Optimization=Bundle Adjustment2026.07 | 75.9 | 112 | |
| VGGT + Ref+BAScene=Mean, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 75.5 | 337.7 | |
| VGGTScene=Graz Church, Optimization=None2026.07 | 72.1 | 37.9 | |
| VGGT + BAScene=Munich Theatinerkirche, Optimization=Bundle Adjustment2026.07 | 71.6 | 151.6 | |
| VGGT + BAScene=Mean, Optimization=Bundle Adjustment2026.07 | 71.1 | 226.1 | |
| VGGT + Ref+BAScene=Vienna State Opera, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 70.9 | 284.5 | |
| VGGTScene=Salzburg Andräkirche, Optimization=None2026.07 | 70.6 | 26.1 | |
| VGGT + BAScene=Munich Marienplatz, Optimization=Bundle Adjustment2026.07 | 70.5 | 109.2 | |
| VGGTScene=Salzburg Rechte Altstadt, Optimization=None2026.07 | 68.8 | 9.5 | |
| VGGTScene=Munich Frauenkirche, Optimization=None2026.07 | 68.2 | 30 | |
| VGGT + EPOScene=Munich Marienplatz, Optimization=Edge-based Pose Optimization2026.07 | 68.1 | 46.2 | |
| VGGTScene=Munich Theatinerkirche, Optimization=None2026.07 | 67 | 28 | |
| VGGT + EPOScene=Graz Townhall, Optimization=Edge-based Pose Optimization2026.07 | 66.7 | 63.9 | |
| VGGT + Ref+BAScene=Graz Townhall, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 65.9 | 229 | |
| VGGT + BAScene=Graz Townhall, Optimization=Bundle Adjustment2026.07 | 65.6 | 107.1 | |
| VGGT + BAScene=Vienna State Opera, Optimization=Bundle Adjustment2026.07 | 63.2 | 219.7 | |
| VGGTScene=Mean, Optimization=None2026.07 | 56.8 | 31 | |
| VGGTScene=Munich Marienplatz, Optimization=None2026.07 | 55.3 | 40.1 | |
| VGGTScene=Vienna State Opera, Optimization=None2026.07 | 54.9 | 26.7 | |
| VGGT + EPOScene=Graz University, Optimization=Edge-based Pose Optimization2026.07 | 50.5 | 56.6 | |
| VGGT + Ref+BAScene=Graz University, Optimization=Refined Bundle Adjustment, Hardware=NVIDIA H2002026.07 | 41.8 | 374.6 | |
| VGGT + BAScene=Graz University, Optimization=Bundle Adjustment2026.07 | 41.5 | 256.1 | |
| VGGTScene=Graz University, Optimization=None2026.07 | 35.5 | 37.9 | |
| VGGTScene=Graz Townhall, Optimization=None2026.07 | 18.8 | 42.4 |