Dense Reconstruction on Replica (average across eight sequences)
38.33PSNR [dB]MyGO-Splat
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| MyGO-SplatCam.=RGB, FPS[f/s]=> 52026.06 | 38.33 | 0.972 | 0.032 | 1.54 | — | 3.69 | |
| SEGS-SLAMCam.=RGB, FPS[f/s]=~ 1.82026.06 | 37.79 | 0.964 | 0.036 | — | — | — | |
| GS-ICP SLAMCam.=RGB-D, FPS[f/s]=> 52026.06 | 36.78 | 0.96 | 0.054 | 1.32 | — | 5.91 | |
| Splat-SLAMCam.=RGB, FPS[f/s]=~ 1.52026.06 | 36.45 | 0.95 | 0.06 | 2.43 | — | 3.64 | |
| RTG-SLAMCam.=RGB-D, FPS[f/s]=> 52026.06 | 35.72 | 0.98 | 0.122 | 1.61 | — | 6.16 | |
| Point-SLAMInput Modality=RGB-D2026.02 | 35.55 | 0.976 | 0.118 | — | 0.49 | — | |
| GSO-SLAMInput Modality=Monocular2026.02 | 34.48 | 0.943 | 0.06 | 8.12 | 30 | — | |
| SplaTAMCam.=RGB-D, FPS[f/s]=~ 0.12026.06 | 34.29 | 0.963 | 0.098 | 2.75 | — | 6.41 | |
| SplaTAMInput Modality=RGB-D2026.02 | 34.13 | 0.97 | 0.099 | — | 0.21 | — | |
| Photo-SLAMCam.=RGB, FPS[f/s]=> 52026.06 | 33.87 | 0.941 | 0.071 | — | — | — | |
| MonoGSInput Modality=Monocular2026.02 | 32.01 | 0.919 | 0.171 | 25.36 | 0.84 | — | |
| Photo-SLAMInput Modality=Monocular2026.02 | 30.91 | 0.911 | 0.099 | 19.37 | 30 | — | |
| MonoGSCam.=RGB, FPS[f/s]=~ 1.52026.06 | 29.98 | 0.897 | 0.202 | — | — | — | |
| MGSO*Input Modality=Monocular2026.02 | 28.17 | 0.855 | 0.204 | 11.54 | 30 | — |