Camera Tracking on BONN dynamic sequences
1.5Balloon Errorπ^3
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| π^3Evaluation Protocol=Keyframe Poses2026.05 | 1.5 | — | — | — | — | — | — | 2.92 | 1.7 | 2.7 | 2.9 | 3.6 | 7.3 | 1.4 | 2.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DDN-SLAM (RGB-D)Input Modality=RGB-D2025.04 | 1.8 | — | — | — | — | — | — | 2.91 | 4.1 | 1.8 | 2.3 | 4.3 | 3.8 | 2 | 3.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DDN-SLAMInput Modality=RGB-D2025.12 | 1.8 | — | — | — | — | — | — | — | 4.1 | 1.8 | 2.3 | 4.3 | 3.8 | 2 | 3.2 | — | — | — | — | — | — | — | — | — | — | — | 2.91 | — | — | — | — | — | |
| 4DGS-SLAM2026.04 | 2.5 | — | — | 9.8 | 11.2 | — | — | — | 4.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.9 | 0.95 | 0.64 | 1.8 | 1.7 | 2.6 | |
| Pi3MOS-SLAMInput Modality=Monocular2025.12 | 2.6 | — | — | — | — | — | — | — | 2.2 | 1.3 | 2.2 | 3.2 | 3 | 1.2 | 1.9 | — | — | — | — | — | — | — | — | — | — | — | 2.2 | — | — | — | — | — | |
| Flow4DGS-SLAM2026.04 | 2.6 | — | — | 7.2 | 10.8 | — | — | — | 3.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.5 | 0.6 | 0.64 | 2.2 | 1.6 | 2.3 | |
| WildPoseEvaluation Protocol=Full Trajectory2026.05 | 2.6 | — | — | — | — | — | — | 2.36 | 2.4 | 1.4 | 1.9 | 4 | 2.6 | 1.3 | 2.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DynaMoN (MS&SS)Input Modality=Monocular2025.04 | 2.8 | — | — | — | — | — | — | 4.1 | 2.7 | 3.5 | 2.8 | 14.8 | 2.2 | 1.3 | 2.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WildGS-SLAMInput Modality=Monocular2025.04 | 2.8 | — | — | — | — | — | — | 2.31 | 2.4 | 1.5 | 2.3 | 3.1 | 2.7 | 1.6 | 2.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WildGS-SLAMInput Modality=Monocular2025.12 | 2.8 | — | — | — | — | — | — | — | 2.4 | 1.5 | 2.3 | 3.1 | 2.7 | 1.6 | 2.2 | — | — | — | — | — | — | — | — | — | — | — | 2.36 | — | — | — | — | — | |
| MASt3R-SLAMEvaluation Protocol=Keyframe Poses2026.05 | 2.8 | — | — | — | — | — | — | 3.96 | 3.1 | 4.4 | 6.6 | 2.6 | 1.9 | 7.5 | 2.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WildGS-SLAMEvaluation Protocol=Full Trajectory2026.05 | 2.8 | — | — | — | — | — | — | 2.31 | 2.4 | 1.5 | 2.3 | 3.1 | 2.7 | 1.6 | 2.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DynaSLAM (N+G)Input Modality=RGB-D2025.04 | 3 | — | — | — | — | — | — | 6.45 | 2.9 | 1.6 | 3.1 | 6.1 | 7.8 | 23.2 | 3.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DynaSLAMInput Modality=RGB-D2025.12 | 3 | — | — | — | — | — | — | — | 2.9 | 1.6 | 3.1 | 6.1 | 7.8 | 23.2 | 3.9 | — | — | — | — | — | — | — | — | — | — | — | 6.45 | — | — | — | — | — | |
| VGGTEvaluation Protocol=Keyframe Poses2026.05 | 3.3 | — | — | — | — | — | — | 6.26 | 3.5 | 2 | 2.1 | 6.6 | 27.1 | 1.4 | 4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ViPEEvaluation Protocol=Full Trajectory2026.05 | 3.3 | — | — | — | — | — | — | 2.93 | 2.7 | 2.6 | 3.9 | 3.4 | 3.8 | 1.4 | 2.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DG-SLAMInput Modality=RGB-D2025.04 | 3.7 | — | — | — | — | — | — | — | 4.1 | 4.5 | — | 6.9 | — | 3.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MegaSaMInput Modality=Monocular2025.04 | 3.7 | — | — | — | — | — | — | 3.51 | 2.6 | 1.6 | 7.2 | 4.1 | 4 | 1.4 | 3.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MegaSaMInput Modality=Monocular2025.12 | 3.7 | — | — | — | — | — | — | — | 2.6 | 1.6 | 7.2 | 4.1 | 4 | 1.4 | 3.4 | — | — | — | — | — | — | — | — | — | — | — | 3.51 | — | — | — | — | — | |
| MegaSaMEvaluation Protocol=Full Trajectory2026.05 | 3.7 | — | — | — | — | — | — | 3.51 | 2.6 | 1.6 | 7.2 | 4.1 | 4 | 1.4 | 3.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonST3R-SWInput Modality=Monocular2025.04 | 5.4 | — | — | — | — | — | — | 7.3 | 7.2 | 5.4 | 6.9 | 11.9 | 11.1 | 3.3 | 7.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonST3RInput Modality=Monocular2025.12 | 5.4 | — | — | — | — | — | — | — | 7.2 | 5.4 | 6.9 | 11.9 | 11.1 | 3.3 | 7.4 | — | — | — | — | — | — | — | — | — | — | — | 7.3 | — | — | — | — | — | |
| ORB-SLAM2Input Modality=RGB-D2025.04 | 6.5 | — | — | — | — | — | — | 6.36 | 23 | 4.9 | 9.8 | 6.9 | 7.9 | 3.2 | 3.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ORB-SLAM2Input Modality=RGB-D2025.12 | 6.5 | — | — | — | — | — | — | — | 23 | 4.9 | 9.8 | 6.9 | 7.9 | 3.2 | 3.9 | — | — | — | — | — | — | — | — | — | — | — | 6.36 | — | — | — | — | — | |
| DynaMoN (MS)Input Modality=Monocular2025.04 | 6.8 | — | — | — | — | — | — | 4.02 | 3.8 | 6.1 | 5.6 | 2.4 | 3.5 | 1.4 | 2.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DSOInput Modality=Monocular2025.04 | 7.3 | — | — | — | — | — | — | 15 | 21.8 | 10.1 | 7.6 | 30.6 | 26.5 | 4.7 | 11.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DROID-SLAMInput Modality=Monocular2025.04 | 7.5 | — | — | — | — | — | — | 4.91 | 4.1 | 5.2 | 6.5 | 4.3 | 5.4 | 2.3 | 4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DROID-SLAMInput Modality=Monocular2025.12 | 7.5 | — | — | — | — | — | — | — | 4.1 | 5.2 | 6.5 | 4.3 | 5.4 | 2.3 | 4 | — | — | — | — | — | — | — | — | — | — | — | 4.91 | — | — | — | — | — | |
| DROID-SLAMEvaluation Protocol=Full Trajectory2026.05 | 7.5 | — | — | — | — | — | — | 4.91 | 4.1 | 5.2 | 6.5 | 4.3 | 5.4 | 2.3 | 4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoDyn-SLAMInput Modality=RGB-D2025.04 | 7.9 | — | — | — | — | — | — | — | 11.5 | — | — | 14.5 | 13.8 | 12.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoDyn-SLAM2026.04 | 7.9 | — | — | 14.5 | 13.8 | — | — | — | 11.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7.9 | 1.3 | 1.4 | 4.9 | 6.2 | 10.2 | |
| Splat-SLAMInput Modality=Monocular2025.04 | 8.8 | — | — | — | — | — | — | — | 3 | 6.8 | — | 4.9 | 25.8 | 1.7 | 3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonoGSInput Modality=Monocular2025.04 | 15.3 | — | — | — | — | — | — | 22.8 | 17.3 | 11.3 | 7.3 | 26.4 | 35.2 | 22.2 | 47.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ReFusionInput Modality=RGB-D2025.04 | 17.5 | — | — | — | — | — | — | 22.38 | 25.4 | 20.4 | 15.5 | 28.9 | 46.3 | 7.1 | 17.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RefusionInput Modality=RGB-D2025.12 | 17.5 | — | — | — | — | — | — | — | 25.4 | 20.4 | 15.5 | 28.9 | 46.3 | 7.1 | 17.9 | — | — | — | — | — | — | — | — | — | — | — | 22.38 | — | — | — | — | — | |
| NICE-SLAMInput Modality=RGB-D2025.04 | 24.4 | — | — | — | — | — | — | 22.74 | 20.2 | 19.3 | 35.8 | 24.5 | 53.6 | 17.7 | 8.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonoGS2026.04 | 29.6 | — | — | 54.5 | 36.9 | — | — | — | 22.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.1 | 68.5 | 0.56 | 71.5 | 10.7 | 3.6 | |
| SplaTAM2026.04 | 32.9 | — | — | 77.8 | 116.7 | — | — | — | 30.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 56.8 | 59.5 | 66.7 | 91.9 | 18.5 | 17.1 | |
| Co-SLAM2024.11 | — | 28.8 | 20.6 | 61 | 59.1 | 38.3 | 70 | 46.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| D2GSLAMDM=true2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.5 | 1.6 | 1.3 | 2.6 | 1.8 | 1.9 | 2.1 | 7.1 | 1.4 | 1.9 | 0.5 | — | — | — | — | — | — | |
| DDN-SLAMDM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2 | 3.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DG-SLAM2024.11 | — | 3.7 | 4.1 | 4.5 | 6.9 | 10 | 3.5 | 5.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DG-SLAMDM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DROID-SLAM*DM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2 | 1.9 | 2.2 | 4 | 7.8 | 2.5 | 2.6 | 12.7 | 1.6 | 2.1 | 1.7 | — | — | — | — | — | — | |
| DROID-VO2024.11 | — | 5.4 | 4.6 | 21.4 | 46 | 8.9 | 5.9 | 15.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DynaMoNDM=true2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.1 | 1.7 | 1.3 | 2.7 | 2.1 | 2 | 2.2 | 17.2 | 1.5 | 1.9 | 0.6 | — | — | — | — | — | — | |
| DynaSLAMDM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.9 | 3.5 | 23.2 | 3.9 | 57.5 | 2.1 | 5.8 | 25.5 | 1.6 | 2.1 | 0.9 | — | — | — | — | — | — | |
| ESLAM2024.11 | — | 22.6 | 36.2 | 48 | 51.4 | 12.4 | 17.7 | 31.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GS-ICP SLAM*DM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.3 | 19 | 9.1 | 24.8 | 32.4 | 38.9 | 38.3 | 45 | 20.3 | 37.7 | 19.4 | — | — | — | — | — | — | |
| GS-SLAM2024.11 | — | 37.5 | 26.8 | 46.8 | 50.4 | 31.9 | 4.8 | 33.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| iMAPreproduced by=NICE-SLAM2024.11 | — | 14.9 | 67 | 28.3 | 52.8 | 24.8 | 28.3 | 36.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMF-SLAMDM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 11.2 | 10.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonoGS*DM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.9 | 5.2 | 8.9 | 22.9 | 39.1 | 9.2 | 3.1 | 25.2 | 3.5 | 4.3 | 0.5 | — | — | — | — | — | — | |
| NICE-SLAM2024.11 | — | — | 66.8 | 54.9 | 45.3 | 21.2 | 31.9 | 44.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ORB-SLAM32024.11 | — | 5.8 | 17.7 | 70.7 | 77.9 | 3.1 | 3.5 | 29.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PG-SLAMDM=true2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4.6 | 7 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ReFusion2024.11 | — | 17.5 | 25.4 | 28.9 | 46.3 | 30.2 | 17.9 | 27.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ReFusionDM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.8 | 16.1 | 7.1 | 17.9 | 10.6 | 14.1 | 17.4 | 57.1 | 4.1 | 11.1 | 2.2 | — | — | — | — | — | — | |
| Rodyn-SLAM2024.11 | — | 7.9 | 11.5 | 14.5 | 13.8 | 13.3 | 12.6 | 12.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoDyn-SLAM*DM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 11.1 | 14.8 | 7.2 | 12.3 | 9.3 | 9.1 | 10.5 | 16.7 | 17.6 | 9.7 | 35.5 | — | — | — | — | — | — | |
| SplaTAM2024.11 | — | 35.5 | 36.1 | 149.7 | 91.2 | 12.5 | 19 | 57.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SplaTAM*DM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.5 | 3.83 | 13.9 | 19 | 17.6 | 10.4 | 12.6 | 12.2 | 11.8 | 10.7 | 22.7 | — | — | — | — | — | — | |
| StaticFusionDM=false2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.6 | 26.3 | 14.1 | 36.4 | 12.5 | 17.7 | 25.6 | 33 | 13.6 | 12.9 | 2.7 | — | — | — | — | — | — | |
| Vox-Fusion2024.11 | — | 65.7 | 82.1 | 128.6 | 162.2 | 43.9 | 47.5 | 88.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |