Mesh Reconstruction on Replica (Room 0)
0.23Depth L1 ErrorLoopy-SLAM
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Loopy-SLAMMethodology=Neural Implicit Fields2026.03 | 0.23 | 93.9 | — | — | — | — | — | — | — | |
| Loopy-SLAMMethodology=Neural Implicit Fields2026.03 | 0.3 | 91.6 | — | — | — | — | — | — | — | |
| Point-SLAMMethodology=Neural Implicit Fields2026.03 | 0.3 | 93.8 | — | — | — | — | — | — | — | |
| LoopSplatMethodology=3D Gaussian Splatting2026.03 | 0.32 | 93.3 | — | — | — | — | — | — | — | |
| VarSplatMethodology=3D Gaussian Splatting2026.03 | 0.33 | 93.3 | — | — | — | — | — | — | — | |
| LoopSplatMethodology=3D Gaussian Splatting2026.03 | 0.39 | 90.6 | — | — | — | — | — | — | — | |
| VarSplatMethodology=3D Gaussian Splatting2026.03 | 0.39 | 90.7 | — | — | — | — | — | — | — | |
| SplaTAMMethodology=3D Gaussian Splatting2026.03 | 0.43 | 89.3 | — | — | — | — | — | — | — | |
| SplaTAMMethodology=3D Gaussian Splatting2026.03 | 0.44 | 91.7 | — | — | — | — | — | — | — | |
| Gaussian-SLAMMethodology=3D Gaussian Splatting2026.03 | 0.5 | 91 | — | — | — | — | — | — | — | |
| Point-SLAMMethodology=Neural Implicit Fields2026.03 | 0.53 | 86.9 | — | — | — | — | — | — | — | |
| Gaussian-SLAMMethodology=3D Gaussian Splatting2026.03 | 0.61 | 88.8 | — | — | — | — | — | — | — | |
| ESLAMMethodology=Neural Implicit Fields2026.03 | 0.86 | 78.4 | — | — | — | — | — | — | — | |
| ESLAMMethodology=Neural Implicit Fields2026.03 | 0.97 | 81 | — | — | — | — | — | — | — | |
| NICE-SLAMMethodology=Neural Implicit Fields2026.03 | 1.39 | 50 | — | — | — | — | — | — | — | |
| NICE-SLAMMethodology=Neural Implicit Fields2026.03 | 1.81 | 45 | — | — | — | — | — | — | — | |
| Kernel-SDFthreshold (δ)=5 cm2026.03 | 2.4 | 95.81 | 92.96 | 98.85 | 92.44 | 2.84 | 1.95 | — | — | |
| Voxbloxthreshold (δ)=5 cm2026.03 | 2.72 | 92 | 88.17 | 96.18 | 87.09 | 3.69 | 1.74 | — | — | |
| FIESTAthreshold (δ)=5 cm2026.03 | 3.77 | 76.71 | 77.56 | 75.87 | 78.05 | 3.98 | 3.57 | — | — | |
| iSDFthreshold (δ)=5 cm2026.03 | 3.83 | 87.85 | 82.88 | 93.45 | 80.69 | 5.63 | 2.04 | — | — | |
| VDB-GPDFthreshold (δ)=5 cm2026.03 | 4.47 | 60.06 | 58.03 | 62.24 | 54.98 | 5.52 | 3.42 | — | — | |
| ActiveGSInput Modality=RGBD2026.05 | — | — | — | — | — | 1.278 | 1.081 | — | 1.18 | |
| ActMVSInput Modality=RGB2026.05 | — | — | — | — | — | 2.583 | 2.211 | — | 2.397 | |
| H2-Mapping2025.10 | — | — | 91.53 | 99.57 | 90.79 | 3.05 | 1.54 | 95.38 | 2.29 | |
| HIO-SDF2025.10 | — | — | 79.93 | 85.86 | 78.41 | 4.5 | 3.09 | 82.83 | 3.79 | |
| NarutoInput Modality=RGBD2026.05 | — | — | — | — | — | 1.619 | 1.907 | — | 1.763 | |
| OREN2025.10 | — | — | 92.87 | 87.04 | 93.32 | 2.55 | 2.6 | 89.86 | 2.58 | |
| PIN-SLAM2025.10 | — | — | 89.83 | 98.57 | 88.84 | 3.46 | 1.66 | 93 | 2.56 | |
| Voxblox2025.10 | — | — | 88.17 | 96.18 | 87.09 | 3.69 | 1.74 | 92 | 2.72 | |
| w/o MVSInput Modality=RGB2026.05 | — | — | — | — | — | 48.79 | 43.66 | — | 46.225 | |
| w/o OPTInput Modality=RGB2026.05 | — | — | — | — | — | 2.608 | 5.066 | — | 3.837 | |
| w/o REFInput Modality=RGB2026.05 | — | — | — | — | — | 4.758 | 4.387 | — | 4.573 |