Camera Tracking on Replica (test)
0.03Rotation Error (Rm) 0GSO-SLAM
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| GSO-SLAMModality=Monocular2026.02 | 0.03 | 0.05 | 0.03 | 0.05 | 0.04 | 2.3 | 0.04 | 1.17 | 0.46 | |
| MGSO*Modality=Monocular2026.02 | 0.05 | 0.05 | 0.03 | 0.05 | 0.04 | 4.33 | 0.04 | 1.27 | 0.73 | |
| SplaTAMModality=RGB-D2026.02 | 0.31 | 0.39 | 0.28 | 0.49 | 0.23 | 0.3 | 0.33 | 0.6 | 0.37 | |
| Orbeez-SLAMModality=Monocular2026.02 | 0.31 | 0.88 | 0.41 | 0.39 | 6.3 | 8.53 | 0.34 | 2.72 | 2.48 | |
| Photo-SLAMModality=Monocular2026.02 | 0.33 | 0.55 | 0.21 | 1.14 | 0.44 | 4.51 | 0.42 | 0.59 | 1.03 | |
| MonoGSModality=RGB-D2026.02 | 0.35 | 0.21 | 0.29 | 0.35 | 0.21 | 0.26 | 0.13 | 0.79 | 0.32 | |
| GS-SLAMRunning Speed Category=>= 5 FPS2023.11 | 0.48 | 0.53 | 0.33 | 0.52 | 0.41 | 0.59 | 0.46 | 0.7 | 0.5 | |
| Point-SLAMModality=RGB-D2026.02 | 0.55 | 0.41 | 0.38 | 0.33 | 0.51 | 0.49 | 0.56 | 0.69 | 0.49 | |
| Point-SLAMRunning Speed Category=< 5 FPS2023.11 | 0.56 | 0.47 | 0.3 | 0.35 | 0.62 | 0.55 | 0.72 | 0.73 | 0.54 | |
| COSLAMRunning Speed Category=>= 5 FPS2023.11 | 0.7 | 0.95 | 1.35 | 0.59 | 0.55 | 2.03 | 1.56 | 0.72 | 1 | |
| ESLAMRunning Speed Category=>= 5 FPS2023.11 | 0.71 | 0.7 | 0.52 | 0.57 | 0.55 | 0.58 | 0.72 | 0.63 | 0.63 | |
| NICE-SLAMRunning Speed Category=< 5 FPS2023.11 | 0.97 | 1.31 | 1.07 | 0.88 | 1 | 1.06 | 1.1 | 1.13 | 1.06 | |
| Vox-FusionRunning Speed Category=< 5 FPS, reproduced=true2023.11 | 1.37 | 4.7 | 1.47 | 8.48 | 2.04 | 2.58 | 1.11 | 2.94 | 3.09 | |
| MonoGSModality=Monocular2026.02 | 5.46 | 10.05 | 5.09 | 15.78 | 11.18 | 16.73 | 5.34 | 66.59 | 17.03 |