Dense SLAM Quality and Performance on TUM-RGBD (average across three sequences)
23.5PSNR (dB)SplaTAM
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| SplaTAMInput Modality=RGB-D2026.02 | 23.5 | 90.9 | 0.156 | 0.41 | |
| MonoGSInput Modality=Monocular2026.02 | 22.15 | 74.1 | 0.321 | 3.11 | |
| Point-SLAMInput Modality=RGB-D2026.02 | 21.3 | 73.1 | 0.453 | 0.39 | |
| GSO-SLAMInput Modality=Monocular2026.02 | 20.52 | 72.7 | 0.263 | 30 | |
| MGSO*Input Modality=Monocular2026.02 | 19.84 | 69 | 0.331 | 30 | |
| Photo-SLAMInput Modality=Monocular2026.02 | 19.78 | 70.1 | 0.232 | 30 |