Camera Tracking on Bonn
1.95ATE RMSE (cm)MoPe
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MoPeBackbone=Monocular Gaussian SLAM2026.06 | 1.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DL-SLAMMethod category=3DGS-based2026.07 | 2.2 | 2.4 | 1.1 | 2.3 | 1 | 1.3 | 0.6 | 1.6 | 0.7 | 3.4 | 1.6 | 2.9 | 1.3 | 1.4 | 0.7 | 2.6 | 1.3 | 1 | |
| WildGS-SLAM2026.06 | 2.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WildGS-SLAMMethod category=3DGS-based2026.07 | 2.5 | 2.8 | 1.2 | 2.5 | 1.1 | 1.6 | 0.8 | 2.2 | 1.3 | 3.7 | 1.8 | 3.1 | 1.4 | 1.7 | 0.9 | 2.3 | 1.2 | 1.2 | |
| DG-SLAMMethod category=3DGS-based2026.07 | 4.2 | 6.2 | 2.3 | 4.8 | 2 | 2.1 | 1.8 | 3.2 | 2.5 | 4.6 | 3.4 | 6.3 | 2.6 | 2.8 | 1.9 | 3.6 | 1.8 | 2.3 | |
| DynaMoNMethod category=NeRF-based2026.07 | 4.4 | 2.9 | 1.2 | 2.7 | 1 | 3.3 | 2.6 | 4.8 | 3.5 | 15.1 | 9.7 | 2.3 | 0.9 | 1.5 | 0.7 | 2.7 | 1 | 2.6 | |
| DROID-SLAM2026.06 | 4.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DynaSLAMMethod category=Traditional2026.07 | 7.2 | 3.4 | 1.5 | 3.2 | 1.4 | 2.5 | 1.3 | 2.9 | 1.7 | 4.7 | 1.6 | 12.6 | 7.2 | 2 | 1 | 26.2 | 11.8 | 3.4 | |
| MonST3R-SW2026.06 | 7.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Splat-SLAM2026.06 | 8.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoDyn-SLAMMethod category=NeRF-based2026.07 | 14.1 | 7.9 | 2.7 | 11.5 | 6.1 | 13.5 | 5.9 | 13.7 | 4.5 | 14.5 | 4.6 | 13.8 | 3.5 | 24.9 | 13.6 | 12.6 | 4.7 | 5.7 | |
| ReFusionMethod category=Traditional2026.07 | 22.4 | 17.5 | — | 25.4 | — | 20.4 | — | 15.5 | — | 28.9 | — | 46.3 | — | 7.1 | — | 17.9 | — | — | |
| MonoGS2026.06 | 22.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ORB-SLAM2Method category=Traditional2026.07 | 56.2 | 15.8 | 6.3 | 12.6 | 5.4 | 98 | 60.1 | 62.8 | 35.7 | 69.8 | 32.7 | 78.6 | 45.4 | 32.3 | 11.5 | 79.6 | 35.9 | 29.1 | |
| SGS-SLAMMethod category=3DGS-based2026.07 | 89.4 | 44.7 | 20.1 | 37.2 | 18.9 | 105.8 | 28.9 | 267 | 78.1 | 128.7 | 36.6 | 66.7 | 36.8 | 23.6 | 22.7 | 41.5 | 20.8 | 32.9 | |
| Co-SLAMMethod category=NeRF-based2026.07 | 90.7 | 25 | 12.4 | 38.7 | 20.8 | 245.8 | 64.5 | 229 | 103.6 | 77.2 | 35.6 | 73.7 | 31.1 | 10.5 | 4.6 | 25.4 | 11.5 | 35.5 | |
| SDD-SLAMMethod category=3DGS-based2026.07 | — | 2.2 | — | 4 | — | — | — | — | — | 4.5 | — | 6.5 | — | — | — | 2.1 | — | — |