Dense SLAM on ScanNet 4
0.63Tracking Iteration Time (ms)Point-SLAM
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Point-SLAMDecoder Param.=0.131M, Memory=57.21MB2024.03 | 0.63 | 42.29 | 64 | 12.69 | 1.28 | |
| ESLAMDecoder Param.=0.004M, Memory=67.95MB2024.03 | 7.54 | 23.4 | 0.23 | 0.7 | 2.74 | |
| Co-SLAMDecoder Param.=0.015M, Memory=48.81MB2024.03 | 7.81 | 20.6 | 78 | 0.2 | 3.41 | |
| NICE-SLAMDecoder Param.=0.07M, Memory=84.25MB2024.03 | 12.3 | 125.3 | 0.62 | 7.52 | 0.27 | |
| MonoGS+OursDecoder Param.=0M, Memory=74.35MB2024.03 | 15.21 | 13.27 | 1.52 | 1.98 | 418.43 | |
| Gaussian-SLAM+OursDecoder Param.=0M, Memory=95.79MB2024.03 | 15.33 | 16.34 | 1.53 | 1.63 | 423.18 | |
| Ours(Laptop)Device=Laptop, Decoder Param.=0M, Memory=95.79MB2024.03 | 15.98 | 16.65 | 3.19 | 1.66 | 409.43 | |
| Ours(Jetson)Device=Jetson, Decoder Param.=0M, Memory=95.79MB2024.03 | 16.19 | 16.76 | 3.23 | 1.68 | 401.25 | |
| Gaussian-SLAMDecoder Param.=0M, Memory=127.43MB2024.03 | 16.49 | 16.98 | 3.29 | 1.99 | 314.39 | |
| MonoGSDecoder Param.=0M, Memory=117.47MB2024.03 | 18.21 | 16.91 | 1.82 | 2.54 | 301.39 | |
| SplaTAM+OursDecoder Param.=0M, Memory=92.48MB2024.03 | 20.85 | 19.25 | 1.88 | 1.23 | 387.93 | |
| SplaTAMDecoder Param.=0M, Memory=178.09MB2024.03 | 28.32 | 26.37 | 2.55 | 1.58 | 155.69 |