Camera-to-gravity rotation estimation on Hypersim (held out scenes)
0.58Mean Rotation ErrorLocal Head
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Local HeadNumber of input views=42026.05 | 0.58 | 0.17 | 94 | 96 | 98 | — | — | |
| Local HeadNumber of input views=82026.05 | 0.59 | 0.17 | 94 | 95.6 | 98.4 | — | — | |
| ProcrustesNumber of input views=82026.05 | 0.91 | 0.34 | 86 | 93.6 | 97.2 | — | — | |
| ProcrustesNumber of input views=42026.05 | 0.98 | 0.41 | 80.4 | 92.4 | 96.8 | — | — | |
| Local HeadNumber of input views=12026.05 | 1.34 | 0.22 | 91.2 | 95.2 | 96 | — | — | |
| GARDEN (Ours GV)2026.06 | 1.4 | — | — | — | — | 1.9 | 0 | |
| ProcrustesNumber of input views=12026.05 | 1.49 | 0.38 | 87.6 | 95.2 | 95.6 | — | — | |
| GeoCalib+RANSAC2026.06 | 1.71 | — | — | — | — | 3.79 | 0 | |
| COLMAP's Manhattan2026.06 | 2.62 | — | — | — | — | 6.38 | 0 | |
| GeoCalibNumber of input views=12026.05 | 3.69 | 1.88 | 34.4 | 52.4 | 89.6 | — | — | |
| GeoCalibNumber of input views=82026.05 | 3.72 | 1.73 | 36.4 | 55.2 | 88.8 | — | — | |
| GeoCalibNumber of input views=42026.05 | 3.77 | 1.79 | 35.2 | 54 | 88 | — | — | |
| GeoCalib2026.06 | 7.59 | — | — | — | — | 4.79 | 6.7 | |
| Plane-RANSAC2026.06 | 24.87 | — | — | — | — | 89.68 | 26.7 | |
| Normal clustering2026.06 | 30.98 | — | — | — | — | 89.77 | 33.3 |