Dense SLAM on Replica
17.4FPSCo-SLAM
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Co-SLAM#param.=0.26 M2023.04 | 17.4 | 1.51 | 2.1 | 2.08 | 93.44 | 58 | 98 | — | — | — | — | — | |
| iMAP#param.=0.26 M2023.04 | 9.9 | 4.64 | 3.62 | 4.93 | 80.51 | 101 | 448 | — | — | — | — | — | |
| VCS-SLAM2026.06 | 7.27 | 0.321 | — | — | — | — | — | 17.71 | 9.56 | — | — | — | |
| Co-SLAMSemantic Mapping=false, Hardware=NVIDIA RTX 4090 GPU2023.11 | 6.41 | — | — | — | — | — | — | 17.24 | 10.2 | — | — | — | |
| Co-SLAM2026.06 | 6.41 | 1.513 | — | — | — | — | — | 17.24 | 10.2 | — | — | — | |
| ESLAMSemantic Mapping=false, Hardware=NVIDIA RTX 4090 GPU2023.11 | 3.02 | — | — | — | — | — | — | 18.11 | 3.62 | — | — | — | |
| ESLAM2026.06 | 3.02 | 1.18 | — | — | — | — | — | 18.11 | 3.62 | — | — | — | |
| SplaTAM2026.06 | 2.26 | 0.525 | — | — | — | — | — | 5.53 | 3.84 | — | — | — | |
| SNI-SLAMSemantic Mapping=true, Hardware=NVIDIA RTX 4090 GPU2023.11 | 2.15 | — | — | — | — | — | — | 16.03 | 2.48 | — | — | — | |
| SGS-SLAM2026.06 | 2.11 | 0.356 | — | — | — | — | — | 5.27 | 3.52 | — | — | — | |
| iMAPSemantic Mapping=false, Hardware=NVIDIA RTX 4090 GPU2023.11 | 1.822 | — | — | — | — | — | — | 9.92 | 2.23 | — | — | — | |
| Vox-FusionSemantic Mapping=false, Hardware=NVIDIA RTX 4090 GPU2023.11 | 1.07 | — | — | — | — | — | — | 2.11 | 2.17 | — | — | — | |
| NICE-SLAM#param.=17.4 M2023.04 | 0.91 | 1.9 | 2.37 | 2.64 | 91.13 | 78 | 5,470 | — | — | — | — | — | |
| NICE-SLAM2026.06 | 0.2 | 1.903 | — | — | — | — | — | 13.7 | 0.2 | — | — | — | |
| NICE-SLAMSemantic Mapping=false, Hardware=NVIDIA RTX 4090 GPU2023.11 | 0.198 | — | — | — | — | — | — | 13.7 | 0.2 | — | — | — | |
| Explicit Hybrid EncodingRes×Dim=2×22024.03 | — | 1.5 | — | 5.62 | 83.93 | — | — | — | — | — | 1.65 | 1.37 | |
| NICE-SLAMRes×Dim=3×322024.03 | — | 3.53 | — | 3 | 89.33 | — | — | — | — | — | 2.85 | 1.95 | |
| TSDF-Fusion#param.=16.8 M2023.04 | — | 6.36 | 1.62 | 3.94 | 83.93 | — | — | — | — | — | — | — |