# Cross-modal registration on Replica 62 Source: [Cross-modal registration on Replica 62]() Collection index: [llms.txt]() Data updated: 2026-02-27T14:12:00.092Z Evaluation of Cross-modal registration performance on the Replica 62 dataset, reporting rotation error (R error) and translation error (t error). A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Cross-modal registration | | Dataset (including any stated split) | Replica 62 | | Metric | Rotation Error | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 36 of 36 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Rotation Error](): Lower is better; unit: SCALAR. - [Translation Error](): Lower is better; unit: SCALAR. ## Recorded results | Method | Rotation Error | Result date | Report paper | | --- | --- | --- | --- | | RoEL | 0.217 | Not recorded | 699bdef209c33900fcd80425 | | RoEL | 0.254 | Not recorded | 699bdef209c33900fcd80425 | | RoEL | 0.279 | Not recorded | 699bdef209c33900fcd80425 | | RoEL | 0.346 | Not recorded | 699bdef209c33900fcd80425 | | RoEL | 0.714 | Not recorded | 699bdef209c33900fcd80425 | | LIMAP | 0.776 | Not recorded | 699bdef209c33900fcd80425 | | RoEL | 0.816 | Not recorded | 699bdef209c33900fcd80425 | | RoEL | 0.882 | Not recorded | 699bdef209c33900fcd80425 | | RoEL | 0.98 | Not recorded | 699bdef209c33900fcd80425 | | LIMAP | 1.038 | Not recorded | 699bdef209c33900fcd80425 | | LIMAP | 1.089 | Not recorded | 699bdef209c33900fcd80425 | | LIMAP | 1.113 | Not recorded | 699bdef209c33900fcd80425 | | LIMAP | 1.243 | Not recorded | 699bdef209c33900fcd80425 | | EMVS | 1.385 | Not recorded | 699bdef209c33900fcd80425 | | EMVS | 1.556 | Not recorded | 699bdef209c33900fcd80425 | | LIMAP | 1.623 | Not recorded | 699bdef209c33900fcd80425 | | LIMAP | 1.642 | Not recorded | 699bdef209c33900fcd80425 | | EMVS | 1.901 | Not recorded | 699bdef209c33900fcd80425 | | RoEL | 1.942 | Not recorded | 699bdef209c33900fcd80425 | | LIMAP | 2.275 | Not recorded | 699bdef209c33900fcd80425 | | EL-SLAM | 2.419 | Not recorded | 699bdef209c33900fcd80425 | | EMVS | 2.636 | Not recorded | 699bdef209c33900fcd80425 | | EMVS | 2.673 | Not recorded | 699bdef209c33900fcd80425 | | EL-SLAM | 2.745 | Not recorded | 699bdef209c33900fcd80425 | | EMVS | 3.031 | Not recorded | 699bdef209c33900fcd80425 | | EL-SLAM | 3.241 | Not recorded | 699bdef209c33900fcd80425 | | EMVS | 3.258 | Not recorded | 699bdef209c33900fcd80425 | | EL-SLAM | 3.261 | Not recorded | 699bdef209c33900fcd80425 | | EMVS | 3.615 | Not recorded | 699bdef209c33900fcd80425 | | LIMAP | 3.81 | Not recorded | 699bdef209c33900fcd80425 | | EMVS | 4.002 | Not recorded | 699bdef209c33900fcd80425 | | EL-SLAM | 4.681 | Not recorded | 699bdef209c33900fcd80425 | | EL-SLAM | 5.102 | Not recorded | 699bdef209c33900fcd80425 | | EL-SLAM | 5.901 | Not recorded | 699bdef209c33900fcd80425 | | EL-SLAM | 6.52 | Not recorded | 699bdef209c33900fcd80425 | | EL-SLAM | 8.254 | Not recorded | 699bdef209c33900fcd80425 | ### RoEL Rotation Error: 0.217. Result ID: 69a1a61235dfcabb00e7f9e8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office3"}. This record does not assert independent reproduction. ### RoEL Rotation Error: 0.254. Result ID: 69a1a61235dfcabb00e7f9e9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office4"}. This record does not assert independent reproduction. ### RoEL Rotation Error: 0.279. Result ID: 69a1a61235dfcabb00e7f9e7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office2"}. This record does not assert independent reproduction. ### RoEL Rotation Error: 0.346. Result ID: 69a1a61235dfcabb00e7f9e5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office0"}. This record does not assert independent reproduction. ### RoEL Rotation Error: 0.714. Result ID: 69a1a61235dfcabb00e7f9e1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"avg"}. This record does not assert independent reproduction. ### LIMAP Rotation Error: 0.776. Result ID: 69a1a61235dfcabb00e7f9d0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"room0"}. This record does not assert independent reproduction. ### RoEL Rotation Error: 0.816. Result ID: 69a1a61235dfcabb00e7f9e3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"room1"}. This record does not assert independent reproduction. ### RoEL Rotation Error: 0.882. Result ID: 69a1a61235dfcabb00e7f9e2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"room0"}. This record does not assert independent reproduction. ### RoEL Rotation Error: 0.98. Result ID: 69a1a61235dfcabb00e7f9e6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office1"}. This record does not assert independent reproduction. ### LIMAP Rotation Error: 1.038. Result ID: 69a1a61235dfcabb00e7f9d6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office3"}. This record does not assert independent reproduction. ### LIMAP Rotation Error: 1.089. Result ID: 69a1a61235dfcabb00e7f9d3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office0"}. This record does not assert independent reproduction. ### LIMAP Rotation Error: 1.113. Result ID: 69a1a61235dfcabb00e7f9d5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office2"}. This record does not assert independent reproduction. ### LIMAP Rotation Error: 1.243. Result ID: 69a1a61235dfcabb00e7f9d1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"room1"}. This record does not assert independent reproduction. ### EMVS Rotation Error: 1.385. Result ID: 69a1a61235dfcabb00e7f9de. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office2"}. This record does not assert independent reproduction. ### EMVS Rotation Error: 1.556. Result ID: 69a1a61235dfcabb00e7f9dd. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office1"}. This record does not assert independent reproduction. ### LIMAP Rotation Error: 1.623. Result ID: 69a1a61235dfcabb00e7f9cf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"avg"}. This record does not assert independent reproduction. ### LIMAP Rotation Error: 1.642. Result ID: 69a1a61235dfcabb00e7f9d7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office4"}. This record does not assert independent reproduction. ### EMVS Rotation Error: 1.901. Result ID: 69a1a61235dfcabb00e7f9dc. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office0"}. This record does not assert independent reproduction. ### RoEL Rotation Error: 1.942. Result ID: 69a1a61235dfcabb00e7f9e4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"room2"}. This record does not assert independent reproduction. ### LIMAP Rotation Error: 2.275. Result ID: 69a1a61235dfcabb00e7f9d4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"office1"}. This record does not assert independent reproduction. ### EL-SLAM Rotation Error: 2.419. Result ID: 69a1a61235dfcabb00e7f9c7. [Reporting paper]() Recorded evaluation configuration: {"Scene":"room0"}. This record does not assert independent reproduction. ### EMVS Rotation Error: 2.636. Result ID: 69a1a61235dfcabb00e7f9e0. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office4"}. This record does not assert independent reproduction. ### EMVS Rotation Error: 2.673. Result ID: 69a1a61235dfcabb00e7f9d8. [Reporting paper]() Recorded evaluation configuration: {"Scene":"avg"}. This record does not assert independent reproduction. ### EL-SLAM Rotation Error: 2.745. Result ID: 69a1a61235dfcabb00e7f9c9. [Reporting paper]() Recorded evaluation configuration: {"Scene":"room2"}. This record does not assert independent reproduction. ### EMVS Rotation Error: 3.031. Result ID: 69a1a61235dfcabb00e7f9d9. [Reporting paper]() Recorded evaluation configuration: {"Scene":"room0"}. This record does not assert independent reproduction. ### EL-SLAM Rotation Error: 3.241. Result ID: 69a1a61235dfcabb00e7f9ce. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office4"}. This record does not assert independent reproduction. ### EMVS Rotation Error: 3.258. Result ID: 69a1a61235dfcabb00e7f9db. [Reporting paper]() Recorded evaluation configuration: {"Scene":"room2"}. This record does not assert independent reproduction. ### EL-SLAM Rotation Error: 3.261. Result ID: 69a1a61235dfcabb00e7f9cc. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office2"}. This record does not assert independent reproduction. ### EMVS Rotation Error: 3.615. Result ID: 69a1a61235dfcabb00e7f9df. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office3"}. This record does not assert independent reproduction. ### LIMAP Rotation Error: 3.81. Result ID: 69a1a61235dfcabb00e7f9d2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"room2"}. This record does not assert independent reproduction. ### EMVS Rotation Error: 4.002. Result ID: 69a1a61235dfcabb00e7f9da. [Reporting paper]() Recorded evaluation configuration: {"Scene":"room1"}. This record does not assert independent reproduction. ### EL-SLAM Rotation Error: 4.681. Result ID: 69a1a61235dfcabb00e7f9c6. [Reporting paper]() Recorded evaluation configuration: {"Scene":"avg"}. This record does not assert independent reproduction. ### EL-SLAM Rotation Error: 5.102. Result ID: 69a1a61235dfcabb00e7f9cb. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office1"}. This record does not assert independent reproduction. ### EL-SLAM Rotation Error: 5.901. Result ID: 69a1a61235dfcabb00e7f9ca. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office0"}. This record does not assert independent reproduction. ### EL-SLAM Rotation Error: 6.52. Result ID: 69a1a61235dfcabb00e7f9c8. [Reporting paper]() Recorded evaluation configuration: {"Scene":"room1"}. This record does not assert independent reproduction. ### EL-SLAM Rotation Error: 8.254. Result ID: 69a1a61235dfcabb00e7f9cd. [Reporting paper]() Recorded evaluation configuration: {"Scene":"office3"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.