Camera Tracking on TUM dynamic scene sequences RGB-D (test)
0.4f3/w_s ATE (cm)WildGS-SLAM
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| WildGS-SLAMInput Mode=Monocular2025.04 | 0.4 | 3.3 | 1.3 | — | — | — | 1.5 | 1.1 | |
| DynaSLAM (N+G)Input Mode=RGB-D2025.04 | 0.6 | 3.5 | 1.5 | — | — | — | 2 | 2.5 | |
| DG-SLAMInput Mode=RGB-D2025.04 | 0.6 | — | 1.6 | — | — | — | 4.3 | — | |
| MegaSaMInput Mode=Monocular2025.04 | 0.6 | 2.6 | 1.5 | — | — | — | 1.6 | 1.8 | |
| DynaMoNInput Mode=Monocular, Method Variant=MS&SS2025.04 | 0.7 | 3.9 | 1.4 | — | — | — | 2 | 1.9 | |
| DDN-SLAM (RGB-D)Input Mode=RGB-D2025.04 | 1 | 3.9 | 1.4 | — | — | — | 2.2 | 2.3 | |
| MonoGSInput Mode=Monocular2025.04 | 1.1 | 17.4 | 21.5 | — | — | — | 21.1 | 44.2 | |
| DROID-SLAMInput Mode=Monocular2025.04 | 1.2 | 4 | 1.6 | — | — | — | 2.3 | 2.2 | |
| DynaMoNInput Mode=Monocular, Method Variant=MS2025.04 | 1.4 | 3.9 | 1.4 | — | — | — | 2.2 | 2 | |
| DSOInput Mode=Monocular2025.04 | 1.5 | 13.8 | 12.9 | — | — | — | 17.2 | 40.7 | |
| ReFusionInput Mode=RGB-D2025.04 | 1.7 | 40.6 | 9.9 | — | — | — | 15.7 | 10.4 | |
| RoDyn-SLAMInput Mode=RGB-D2025.04 | 1.7 | — | 2.1 | — | — | — | 5.6 | 8.3 | |
| MonST3R-SWInput Mode=Monocular2025.04 | 2.2 | 13.6 | 27.3 | — | — | — | 15.7 | 19.8 | |
| Splat-SLAMInput Mode=Monocular2025.04 | 2.3 | 3.9 | 1.3 | — | — | — | 2.4 | 2.2 | |
| DDN-SLAM (RGB)Input Mode=Monocular2025.04 | 2.5 | 8.9 | 2.8 | — | — | — | 4.6 | 4.1 | |
| ORB-SLAM2Input Mode=RGB-D2025.04 | 40.8 | 80.5 | 72.2 | — | — | — | 66.5 | 72.3 | |
| NICE-SLAMInput Mode=RGB-D2025.04 | 79.8 | 244 | 86.5 | — | — | — | 140.6 | 152 |