Camera Pose Estimation on TUM dynamics
0.01ATE4RC
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| 4RC2026.02 | 0.01 | 0.008 | 0.314 | — | — | — | — | |
| Align3R (Depth Anything V2)Category=Joint depth & pose, Monocular depth backbone=Depth Anything V22024.12 | 0.011 | 0.01 | 0.321 | — | — | — | — | |
| TrajVG2026.02 | 0.011 | 0.008 | 0.307 | — | — | — | — | |
| Align3R (Depth Pro)Category=Joint depth & pose, Monocular depth backbone=Depth Pro2024.12 | 0.012 | 0.01 | 0.327 | — | — | — | — | |
| VGGT2026.02 | 0.012 | 0.01 | 0.311 | — | — | — | — | |
| VGGT2026.02 | 0.012 | 0.01 | 0.311 | — | — | — | — | |
| VGGTType=FA2026.01 | 0.012 | 0.01 | 0.31 | — | — | — | — | |
| VGGT2026.03 | 0.012 | — | — | — | — | 0.01 | 0.311 | |
| VGGT2025.07 | 0.012 | 0.01 | 0.311 | — | — | — | — | |
| VGGTType=Dense-view2025.07 | 0.012 | 0.01 | 0.307 | — | — | — | — | |
| Pi32026.02 | 0.014 | 0.009 | 0.309 | — | — | — | — | |
| V-DPM2026.02 | 0.014 | 0.01 | 0.318 | — | — | — | — | |
| π³2026.02 | 0.014 | 0.009 | 0.312 | — | — | — | — | |
| pi^32026.01 | 0.014 | 0.009 | 0.312 | — | — | — | — | |
| TrackingWorld (CoTrackerV3)Category=Joint depth & pose, 2D tracking source=CoTrackerV3 [1]2025.12 | 0.014 | 0.005 | 0.338 | — | — | — | — | |
| Pi32026.03 | 0.014 | — | — | — | — | 0.009 | 0.312 | |
| DAGE2026.03 | 0.014 | — | — | — | — | 0.01 | 0.323 | |
| pi^32025.07 | 0.014 | 0.009 | 0.312 | — | — | — | — | |
| TrackingWorld (DELTA)Category=Joint depth & pose, 2D tracking source=DELTA [4]2025.12 | 0.016 | 0.005 | 0.333 | — | — | — | — | |
| MonST3RCategory=Joint depth & pose2024.12 | 0.02 | 0.014 | 0.478 | — | — | — | — | |
| Pi3Resolution=252px2026.03 | 0.025 | — | — | — | — | 0.019 | 0.37 | |
| FLARE2026.02 | 0.026 | 0.013 | 0.475 | — | — | — | — | |
| TTSA3RType=Stream2026.01 | 0.026 | 0.012 | 0.372 | — | — | — | — | |
| FLARE2026.03 | 0.026 | — | — | — | — | 0.013 | 0.475 | |
| FLARE2025.07 | 0.026 | 0.013 | 0.475 | — | — | — | — | |
| StreamVGGTType=Streaming2025.07 | 0.026 | 0.012 | 0.316 | — | — | — | — | |
| Align3RCategory=Joint depth & pose, Depth Prior=Depth Pro [54]2025.12 | 0.027 | 0.018 | 0.446 | — | — | — | — | |
| TTT3RType=Stream2026.01 | 0.028 | 0.013 | 0.38 | — | — | — | — | |
| Any4D2026.02 | 0.03 | 0.023 | 0.463 | — | — | — | — | |
| MASt3R2026.02 | 0.038 | 0.012 | 0.448 | — | — | — | — | |
| MASt3R-GAType=Optim2026.01 | 0.038 | 0.012 | 0.448 | — | — | — | — | |
| MASt3R-GAType=Pair-wise2025.07 | 0.038 | 0.012 | 0.448 | — | — | — | — | |
| MASt3R-GAOptim.=true, Onl.=false2026.05 | 0.038 | 0.012 | 0.448 | — | — | — | — | |
| Uni4DCategory=Joint depth & pose, 2D tracking source=reproduced by 2D tracks from DELTA2025.12 | 0.039 | 0.007 | 0.434 | — | — | — | — | |
| MUT3RType=Stream2026.01 | 0.042 | 0.015 | 0.445 | — | — | — | — | |
| CasualSAM2026.01 | 0.045 | 0.02 | 0.841 | — | — | — | — | |
| CUT3R2026.02 | 0.046 | 0.015 | 0.473 | — | — | — | — | |
| CUT3RType=Stream2026.01 | 0.046 | 0.015 | 0.473 | — | — | — | — | |
| Cut3RParam.=600M2026.03 | 0.046 | 0.015 | 0.473 | — | — | — | — | |
| CUT3R2026.03 | 0.046 | — | — | — | — | — | — | |
| CUT3RType=Streaming2025.07 | 0.046 | 0.015 | 0.473 | — | — | — | — | |
| CUT3ROptim.=false, Onl.=true2026.05 | 0.046 | 0.015 | 0.473 | — | — | — | — | |
| CUT3R2026.02 | 0.047 | 0.015 | 0.451 | — | — | — | — | |
| CUT3R2026.03 | 0.047 | — | — | — | — | 0.015 | 0.451 | |
| CUT3R2025.07 | 0.047 | 0.015 | 0.451 | — | — | — | — | |
| OmniStreamParam.=400M2026.03 | 0.049 | 0.012 | 0.601 | — | — | — | — | |
| OmniStream2026.03 | 0.049 | — | — | — | — | — | — | |
| OursOptim.=false, Onl.=true2026.05 | 0.049 | 0.014 | 0.463 | — | — | — | — | |
| VGGTResolution=252px2026.03 | 0.053 | — | — | — | — | 0.028 | 0.652 | |
| Spann3R2026.02 | 0.056 | 0.021 | 0.591 | — | — | — | — | |
| Spann3RType=Stream2026.01 | 0.056 | 0.021 | 0.591 | — | — | — | — | |
| DPM2026.01 | 0.056 | 0.014 | 0.836 | — | — | — | — | |
| Span3RParam.=600M2026.03 | 0.056 | 0.021 | 0.591 | — | — | — | — | |
| Spann3RType=Streaming2025.07 | 0.056 | 0.021 | 0.591 | — | — | — | — | |
| Spann3ROptim.=false, Onl.=true2026.05 | 0.056 | 0.021 | 0.591 | — | — | — | — | |
| V-DPM2026.01 | 0.057 | 0.017 | 0.34 | — | — | — | — | |
| Point3RParam.=600M2026.03 | 0.058 | 0.031 | 0.758 | — | — | — | — | |
| Point3ROptim.=false, Onl.=true2026.05 | 0.058 | 0.031 | 0.758 | — | — | — | — | |
| MonST3RCategory=Joint depth & pose2025.12 | 0.063 | 0.009 | 1.217 | — | — | — | — | |
| CasualSAMCategory=Joint depth & pose2024.12 | 0.071 | 0.01 | 1.712 | — | — | — | — | |
| CasualSAMType=Optim2026.01 | 0.071 | 0.01 | 1.712 | — | — | — | — | |
| CasualSAMType=Pair-wise2025.07 | 0.071 | 0.01 | 1.712 | — | — | — | — | |
| CasualSAMOptim.=true, Onl.=false2026.05 | 0.071 | 0.01 | 1.712 | — | — | — | — | |
| MonST3R2026.01 | 0.074 | 0.019 | 0.905 | — | — | — | — | |
| Point3RType=Stream2026.01 | 0.075 | 0.029 | 0.642 | — | — | — | — | |
| Point3RType=Streaming2025.07 | 0.075 | 0.029 | 0.642 | — | — | — | — | |
| COLMAPCategory=Pose only2024.12 | 0.076 | 0.059 | 7.689 | — | — | — | — | |
| COLMAPCategory=Pose only2025.12 | 0.076 | 0.059 | 7.689 | — | — | — | — | |
| DUSt3R2026.02 | 0.083 | 0.017 | 3.567 | — | — | — | — | |
| DUSt3R-GAType=Optim2026.01 | 0.083 | 0.017 | 3.567 | — | — | — | — | |
| DUSt3RCategory=Joint depth & pose2025.12 | 0.083 | 0.017 | 3.567 | — | — | — | — | |
| DUSt3R-GAType=Pair-wise2025.07 | 0.083 | 0.017 | 3.567 | — | — | — | — | |
| DUSt3R-GAOptim.=true, Onl.=false2026.05 | 0.083 | 0.017 | 3.567 | — | — | — | — | |
| Fast3R2026.02 | 0.09 | 0.101 | 1.425 | — | — | — | — | |
| Fast3R2026.03 | 0.09 | — | — | — | — | 0.101 | 1.425 | |
| Fast3R2025.07 | 0.09 | 0.101 | 1.425 | — | — | — | — | |
| Aether2026.02 | 0.092 | 0.012 | 1.106 | — | — | — | — | |
| DUSt3RCategory=Joint depth & pose2024.12 | 0.093 | 0.035 | 1.708 | — | — | — | — | |
| MonST3R2026.02 | 0.098 | 0.019 | 0.935 | — | — | — | — | |
| MonST3R-GAType=Optim2026.01 | 0.098 | 0.019 | 0.935 | — | — | — | — | |
| MonST3R-GAType=Pair-wise2025.07 | 0.098 | 0.019 | 0.935 | — | — | — | — | |
| MonST3R-GAOptim.=true, Onl.=false2026.05 | 0.098 | 0.019 | 0.935 | — | — | — | — | |
| Easi3RType=FA2026.01 | 0.105 | 0.022 | 1.064 | — | — | — | — | |
| DUST3R2026.01 | 0.127 | 0.062 | 3.099 | — | — | — | — | |
| Robust-CVDCategory=Joint depth & pose2024.12 | 0.153 | 0.026 | 3.528 | — | — | — | — | |
| Robust-CVDType=Optim2026.01 | 0.153 | 0.026 | 3.528 | — | — | — | — | |
| Robust-CVDCategory=Joint depth & pose2025.12 | 0.153 | 0.026 | 3.528 | — | — | — | — | |
| Robust-CVDType=Pair-wise2025.07 | 0.153 | 0.026 | 3.528 | — | — | — | — | |
| Robust-CVDOptim.=true, Onl.=false2026.05 | 0.153 | 0.026 | 3.528 | — | — | — | — | |
| Robust-CVD2026.01 | 0.189 | 0.071 | 3.681 | — | — | — | — | |
| Align3RCategory=Non-Diffusion2025.12 | — | — | 0.432 | 0.295 | 0.24 | — | — | |
| Geo4DCategory=Diffusion based2025.12 | — | — | 0.48 | 0.461 | 0.269 | — | — | |
| HuPrior3RCategory=Non-Diffusion2025.12 | — | — | 0.43 | 0.335 | 0.29 | — | — | |
| MonST3RCategory=Non-Diffusion2025.12 | — | — | 0.506 | 0.407 | 0.271 | — | — | |
| VGGTCategory=Non-Diffusion2025.12 | — | — | 0.591 | 0.337 | 0.294 | — | — |