Camera Tracking on TUM RGB-D (fr1/desk, fr2/xyz, fr3/office)
1.23Tracking Error (fr1/desk)Orbeez-SLAM
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Orbeez-SLAMBase=Feature2026.02 | 1.23 | 0.23 | 1.71 | 1.05 | — | — | |
| MonoGSBase=Direct2026.02 | 1.47 | 1.39 | 1.66 | 1.02 | — | — | |
| VCGS-SLAMMethod Category=NeRF-Based Methods2024.03 | 1.57 | 1.37 | 1.49 | 3.79 | 6.24 | 8.29 | |
| VCGS-SLAMMethod Category=NeRF-Based Methods, Platform=Laptop2024.03 | 1.58 | 1.39 | 1.49 | 3.81 | 6.27 | 8.31 | |
| MonoGSMethod Category=NeRF-Based Methods2024.03 | 1.59 | 1.44 | 1.52 | 3.96 | 6.68 | 8.55 | |
| ORB-SLAM22023.04 | 1.6 | 0.4 | 1 | — | — | — | |
| BundleFusion2025.09 | 1.6 | 1.1 | 2.2 | 1.6 | — | — | |
| ORB-SLAM2Method Category=Traditional Methods2024.03 | 1.6 | 0.4 | 1 | 1.98 | 2.2 | 4.7 | |
| Photo-SLAMBase=Feature2026.02 | 1.64 | 0.25 | 1.16 | 1.34 | — | — | |
| VCGS-SLAMMethod Category=NeRF-Based Methods, Platform=Jetson2024.03 | 1.64 | 1.41 | 1.54 | 3.98 | 6.65 | 8.47 | |
| BAD-SLAM2023.04 | 1.7 | 1.1 | 1.7 | — | — | — | |
| ElasticFusion2025.09 | 2 | 1.1 | 1.7 | 1.6 | — | — | |
| PROFusionsingle-frame tracking w/o bundle adjustment or loop optimization=true2025.09 | 2 | 2.3 | 2.5 | 2.3 | — | — | |
| ROSEFusionsingle-frame tracking w/o bundle adjustment or loop optimization=true2025.09 | 2.3 | 3.3 | 3.9 | 3.1 | — | — | |
| Co-SLAMtracking iterations=increased2023.04 | 2.4 | 1.7 | 2.4 | — | — | — | |
| ESLAMMethod Category=NeRF-Based Methods2024.03 | 2.47 | 1.41 | 2.41 | 7.95 | 3.69 | 29.79 | |
| HERO-SLAM2025.09 | 2.5 | 2.1 | 2.7 | 2.4 | — | — | |
| ElasticFusionMethod Category=Traditional Methods2024.03 | 2.53 | 1.17 | 2.52 | 6.91 | 6.83 | 21.49 | |
| Ours (GSO-SLAM)Base=Direct2026.02 | 2.54 | 0.2 | 6.47 | 3.07 | — | — | |
| NICE-SLAM2023.04 | 2.7 | 1.8 | 3 | — | — | — | |
| Co-SLAM2023.04 | 2.7 | 1.9 | 2.6 | — | — | — | |
| NICE-SLAM2025.09 | 2.7 | 1.8 | 3 | 2.5 | — | — | |
| Point-SLAMBase=Direct2026.02 | 2.73 | 1.3 | 3.52 | 2.52 | — | — | |
| Gaussian-SLAMMethod Category=NeRF-Based Methods2024.03 | 2.74 | 1.39 | 5.33 | 5.36 | 6.05 | 11.32 | |
| MIPS-Fusion2025.09 | 3 | 1.4 | 4.6 | 3 | — | — | |
| MonoGSBase=Direct2026.02 | 3.29 | 4.22 | 3.7 | 3.73 | — | — | |
| SplaTAMBase=Direct2026.02 | 3.3 | 1.32 | 5.12 | 3.25 | — | — | |
| SplaTAMMethod Category=NeRF-Based Methods2024.03 | 3.35 | 1.24 | 5.16 | 5.48 | 6.54 | 11.13 | |
| Vox-FusionMethod Category=NeRF-Based Methods2024.03 | 3.52 | 1.49 | 26.01 | 11.31 | 6 | 19.53 | |
| Kintinuous2023.04 | 3.7 | 2.9 | 3 | — | — | — | |
| KintinuousMethod Category=Traditional Methods2024.03 | 3.7 | 2.9 | 3 | 4.84 | 7.1 | 7.5 | |
| MGSO*Base=Direct2026.02 | 3.91 | 0.21 | 10.12 | 4.74 | — | — | |
| NICE-SLAMMethod Category=NeRF-Based Methods2024.03 | 4.26 | 31.73 | 3.87 | 15.87 | 4.99 | 34.49 | |
| Point-SLAMMethod Category=NeRF-Based Methods2024.03 | 4.34 | 1.31 | 3.48 | 8.92 | 4.54 | 30.92 | |
| iMAP2023.04 | 4.9 | 2 | 5.8 | — | — | — | |
| iMAP*mapping frequency=every frame2023.04 | 7.2 | 2.1 | 9 | — | — | — | |
| CartGST. Time (mins)=4.22026.01 | — | — | — | 0.27 | — | — | |
| FeatureSLAMT. Time (mins)=24.9, refinement=false2026.01 | — | — | — | 2.05 | — | — | |
| FeatureSLAMT. Time (mins)=26.9, refinement=true2026.01 | — | — | — | 2.05 | — | — | |
| GS-ICP-SLAMT. Time (mins)=3.62026.01 | — | — | — | 2.64 | — | — | |
| MonoGST. Time (mins)=130.22026.01 | — | — | — | 1.48 | — | — | |
| Photo-SLAMT. Time (mins)=4.42026.01 | — | — | — | 0.26 | — | — | |
| SplaTAMT. Time (mins)=210.22026.01 | — | — | — | 5.5 | — | — |