Mesh Reconstruction on Replica (Room 2)
95.66Completion Ratio [< δ]OREN
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| OREN2025.10 | 95.66 | — | — | 93.55 | 95.48 | 91.7 | 1.72 | 1.98 | 1.85 | — | |
| Kernel-SDFthreshold (δ)=5 cm2026.03 | 95.22 | — | — | 97.47 | 95.43 | 99.61 | 2.33 | 1.93 | 2.13 | — | |
| H2-Mapping2025.10 | 92.87 | — | — | 96.35 | 93.32 | 99.59 | 2.14 | 1.33 | 1.73 | — | |
| Voxbloxthreshold (δ)=5 cm2026.03 | 90.41 | — | — | 92.64 | 90.79 | 94.56 | 2.31 | 1.5 | 1.9 | — | |
| Voxblox2025.10 | 90.41 | — | — | 92.64 | 90.79 | 94.56 | 2.31 | 1.5 | 1.9 | — | |
| PIN-SLAM2025.10 | 89.71 | — | — | 94.4 | 90.55 | 98.59 | 2.89 | 1.49 | 2.19 | — | |
| iSDFthreshold (δ)=5 cm2026.03 | 88.12 | — | — | 90.64 | 88.64 | 92.74 | 2.62 | 1.52 | 2.07 | — | |
| HIO-SDF2025.10 | 84.68 | — | — | 87.96 | 85.53 | 90.54 | 3.51 | 2.78 | 3.14 | — | |
| FIESTAthreshold (δ)=5 cm2026.03 | 82.34 | — | — | 78.15 | 81.04 | 75.47 | 2.88 | 3.18 | 3.03 | — | |
| VDB-GPDFthreshold (δ)=5 cm2026.03 | 55.53 | — | — | 58.45 | 57.29 | 59.66 | 3.87 | 3.17 | 3.52 | — | |
| w/o MVSInput Modality=RGB2026.05 | 52.31 | — | — | — | — | — | — | — | 49.145 | 45.98 | |
| w/o OPTInput Modality=RGB2026.05 | 2.267 | — | — | — | — | — | — | — | 2.313 | 2.359 | |
| w/o REFInput Modality=RGB2026.05 | 2.116 | — | — | — | — | — | — | — | 2.101 | 2.086 | |
| ActMVSInput Modality=RGB2026.05 | 1.901 | — | — | — | — | — | — | — | 1.878 | 1.854 | |
| NarutoInput Modality=RGBD2026.05 | 1.543 | — | — | — | — | — | — | — | 1.548 | 1.553 | |
| ActiveGSInput Modality=RGBD2026.05 | 0.97 | — | — | — | — | — | — | — | 0.955 | 0.94 | |
| ESLAMMethodology=Neural Implicit Fields2026.03 | — | 1.28 | 83.9 | — | — | — | — | — | — | — | |
| Gaussian-SLAMMethodology=3D Gaussian Splatting2026.03 | — | 0.54 | 90.5 | — | — | — | — | — | — | — | |
| LoopSplatMethodology=3D Gaussian Splatting2026.03 | — | 0.52 | 91.1 | — | — | — | — | — | — | — | |
| Loopy-SLAMMethodology=Neural Implicit Fields2026.03 | — | 0.42 | 90.6 | — | — | — | — | — | — | — | |
| NICE-SLAMMethodology=Neural Implicit Fields2026.03 | — | 2.04 | 43.6 | — | — | — | — | — | — | — | |
| Point-SLAMMethodology=Neural Implicit Fields2026.03 | — | 0.46 | 90.8 | — | — | — | — | — | — | — | |
| SplaTAMMethodology=3D Gaussian Splatting2026.03 | — | 0.54 | 88 | — | — | — | — | — | — | — | |
| VarSplatMethodology=3D Gaussian Splatting2026.03 | — | 0.51 | 91 | — | — | — | — | — | — | — |