Dense SLAM on Replica 31
0.57Tracking Latency per IterationPoint-SLAM
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Point-SLAMDecoder Param.=0.127M, Memory=55.42MB2024.03 | 0.57 | 34.85 | 0.0227 | 10.47 | 1.33 | |
| Co-SLAMDecoder Param.=0.013M, Memory=24.85MB2024.03 | 6.38 | 14.25 | 0.0639 | 0.15 | 3.68 | |
| ESLAMDecoder Param.=0.003M, Memory=27.12MB2024.03 | 6.85 | 19.98 | 0.0548 | 0.29 | 2.82 | |
| NICE-SLAMDecoder Param.=0.06M, Memory=48.48MB2024.03 | 6.98 | 28.88 | 0.0685 | 1.23 | 0.3 | |
| MonoGS+OursDecoder Param.=0M, Memory=73.31MB2024.03 | 13.25 | 10.74 | 0.0013 | 1.61 | 447.29 | |
| Gaussian-SLAM+OursDecoder Param.=0M, Memory=96.03MB2024.03 | 13.65 | 17.97 | 0.0008 | 1.79 | 458.53 | |
| Ours(Laptop)Device=Laptop, Decoder Param.=0M, Memory=96.03MB2024.03 | 13.88 | 18.01 | 0.0008 | 1.8 | 445.53 | |
| Gaussian-SLAMDecoder Param.=0M, Memory=101.48MB2024.03 | 14.09 | 20.85 | 0.0008 | 2.08 | 321.39 | |
| Ours(Jetson)Device=Jetson, Decoder Param.=0M, Memory=96.03MB2024.03 | 14.49 | 18.15 | 0.0009 | 1.81 | 439.23 | |
| MonoGSDecoder Param.=0M, Memory=84.41MB2024.03 | 15.39 | 12.49 | 0.0015 | 1.88 | 317.45 | |
| SplaTAM+OursDecoder Param.=0M, Memory=117.36MB2024.03 | 16.83 | 15.71 | 0.0015 | 0.94 | 398.45 | |
| SplaTAMDecoder Param.=0M, Memory=273.09MB2024.03 | 24.23 | 22.83 | 0.0022 | 1.37 | 175.64 |