Point Map Estimation on ETH3D
0.916NC MeanTCO-π3
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| TCO-π3Compat=true, Pose=true, Intr=true2026.04 | 0.916 | — | — | — | 0.071 | 0.04 | 0.065 | 0.037 | 0.985 | |
| TCO-VGGTCompat=true, Pose=true, Intr=true2026.04 | 0.901 | — | — | — | 0.114 | 0.06 | 0.116 | 0.054 | 0.984 | |
| TrajVG2026.02 | 0.887 | — | — | — | 0.173 | 0.117 | 0.2 | 0.124 | 0.97 | |
| TCO-VGGTCompat=false, Pose=true, Intr=true2026.04 | 0.884 | — | — | — | 0.134 | 0.079 | 0.149 | 0.083 | 0.977 | |
| FP16Bitwidth (W/A)=16/162026.05 | 0.884 | — | — | — | 0.188 | 0.123 | 0.211 | 0.128 | 0.971 | |
| pi^32026.02 | 0.883 | — | — | — | 0.194 | 0.131 | 0.21 | 0.128 | 0.969 | |
| pi^32025.07 | 0.883 | — | — | — | 0.194 | 0.131 | 0.21 | 0.128 | 0.969 | |
| π3Compat=false, Pose=false, Intr=false2026.04 | 0.883 | — | — | — | 0.194 | 0.131 | 0.21 | 0.128 | 0.969 | |
| TCO-VGGTCompat=true, Pose=true, Intr=false2026.04 | 0.875 | — | — | — | 0.185 | 0.121 | 0.179 | 0.103 | 0.972 | |
| FGQBitwidth (W/A)=4/42026.05 | 0.874 | — | — | — | 0.193 | 0.13 | 0.215 | 0.131 | 0.961 | |
| pi^3Training=Pretrained2026.04 | 0.872 | — | — | — | 0.188 | 0.126 | 0.211 | 0.129 | 0.967 | |
| FlatQuantBitwidth (W/A)=4/42026.05 | 0.87 | — | — | — | 0.197 | 0.134 | 0.217 | 0.145 | 0.959 | |
| Pi32025.11 | 0.867 | — | — | — | 0.194 | 0.13 | 0.22 | 0.135 | 0.965 | |
| MapAnythingCompat=false, Pose=true, Intr=true2026.04 | 0.866 | — | — | — | 0.167 | 0.1 | 0.131 | 0.066 | 0.968 | |
| Pow3R (asym.)Compat=false, Pose=true, Intr=true2026.04 | 0.865 | — | — | — | 0.23 | 0.146 | 0.188 | 0.119 | 0.968 | |
| VGGT + OursBackbone=VGGT, Method=Fin3R2025.11 | 0.861 | — | — | — | 0.209 | 0.112 | 0.17 | 0.085 | 0.972 | |
| pi^3-FTTraining=Fine-tuned2026.04 | 0.861 | — | — | — | 0.199 | 0.142 | 0.242 | 0.151 | 0.955 | |
| VGGT2026.02 | 0.853 | — | — | — | 0.28 | 0.185 | 0.305 | 0.182 | 0.95 | |
| VGGT2025.07 | 0.853 | — | — | — | 0.28 | 0.185 | 0.305 | 0.182 | 0.95 | |
| VGGTCompat=false, Pose=false, Intr=false2026.04 | 0.853 | — | — | — | 0.28 | 0.185 | 0.305 | 0.182 | 0.95 | |
| TCO-VGGTCompat=true, Pose=false, Intr=false2026.04 | 0.853 | — | — | — | 0.27 | 0.178 | 0.298 | 0.179 | 0.949 | |
| FGQBitwidth (W/A)=4/82026.05 | 0.848 | — | — | — | 0.26 | 0.165 | 0.27 | 0.158 | 0.949 | |
| FP16Bitwidth (W/A)=16/162026.05 | 0.846 | — | — | — | 0.263 | 0.167 | 0.288 | 0.167 | 0.947 | |
| QuaRotBitwidth (W/A)=4/82026.05 | 0.846 | — | — | — | 0.262 | 0.174 | 0.272 | 0.161 | 0.951 | |
| FlatQuantBitwidth (W/A)=4/82026.05 | 0.845 | — | — | — | 0.262 | 0.169 | 0.287 | 0.168 | 0.943 | |
| QuantVGGTBitwidth (W/A)=4/82026.05 | 0.842 | — | — | — | 0.269 | 0.185 | 0.292 | 0.17 | 0.942 | |
| VGGTTraining=Pretrained2026.04 | 0.841 | — | — | — | 0.27 | 0.174 | 0.304 | 0.18 | 0.942 | |
| RTNBitwidth (W/A)=4/82026.05 | 0.84 | — | — | — | 0.271 | 0.183 | 0.299 | 0.174 | 0.938 | |
| VGGTBackbone=VGGT2025.11 | 0.839 | — | — | — | 0.29 | 0.196 | 0.371 | 0.23 | 0.932 | |
| TCO-VGGTCompat=true, Pose=false, Intr=true2026.04 | 0.839 | — | — | — | 0.273 | 0.175 | 0.302 | 0.181 | 0.938 | |
| VGGT-FTTraining=Fine-tuned2026.04 | 0.838 | — | — | — | 0.282 | 0.205 | 0.394 | 0.225 | 0.927 | |
| VGGT raw depthCompat=false, Pose=true, Intr=true2026.04 | 0.834 | — | — | — | 0.283 | 0.191 | 0.33 | 0.203 | 0.931 | |
| FGQBitwidth (W/A)=4/42026.05 | 0.834 | — | — | — | 0.275 | 0.177 | 0.279 | 0.164 | 0.94 | |
| FlatQuantBitwidth (W/A)=4/42026.05 | 0.833 | — | — | — | 0.291 | 0.193 | 0.297 | 0.173 | 0.935 | |
| QuantVGGTBitwidth (W/A)=4/42026.05 | 0.832 | — | — | — | 0.312 | 0.206 | 0.305 | 0.18 | 0.937 | |
| CUT3R2026.02 | 0.754 | — | — | — | 0.617 | 0.525 | 0.747 | 0.579 | 0.848 | |
| CUT3RSetting=Streaming2026.03 | 0.754 | 0.593 | 0.747 | — | — | — | — | — | — | |
| CUT3R2025.07 | 0.754 | — | — | — | 0.617 | 0.525 | 0.747 | 0.579 | 0.848 | |
| CUT3RCompat=false, Pose=false, Intr=false2026.04 | 0.754 | — | — | — | 0.617 | 0.525 | 0.747 | 0.579 | 0.848 | |
| ZipMapSetting=Streaming2026.03 | 0.75 | 0.614 | 0.941 | — | — | — | — | — | — | |
| FLARE2026.02 | 0.744 | — | — | — | 0.464 | 0.338 | 0.664 | 0.395 | 0.864 | |
| FLARE2025.07 | 0.744 | — | — | — | 0.464 | 0.338 | 0.664 | 0.395 | 0.864 | |
| FLARECompat=false, Pose=false, Intr=false2026.04 | 0.744 | — | — | — | 0.464 | 0.338 | 0.664 | 0.395 | 0.864 | |
| TTT3RSetting=Streaming2026.03 | 0.739 | 0.763 | 0.881 | — | — | — | — | — | — | |
| Fast3R2026.02 | 0.667 | — | — | — | 0.832 | 0.691 | 0.978 | 0.683 | 0.766 | |
| Fast3R2025.07 | 0.667 | — | — | — | 0.832 | 0.691 | 0.978 | 0.683 | 0.766 | |
| Fast3RCompat=false, Pose=false, Intr=false2026.04 | 0.667 | — | — | — | 0.832 | 0.691 | 0.978 | 0.683 | 0.766 | |
| QuaRotBitwidth (W/A)=4/42026.05 | 0.667 | — | — | — | 0.917 | 0.781 | 1.151 | 0.757 | 0.753 | |
| RTNBitwidth (W/A)=4/42026.05 | 0.603 | — | — | — | 0.944 | 0.843 | 1.339 | 0.92 | 0.656 | |
| RTNBitwidth (W/A)=4/42026.05 | 0.589 | — | — | — | 1.353 | 1.263 | 2.03 | 1.647 | 0.628 | |
| 2K RetrofitFPS=5.52026.03 | — | 0.935 | 0.602 | 0.839 | — | — | — | — | — | |
| DUSt3RAlignment=Global alignment, Time=~7s2025.03 | — | 1.167 | 0.842 | 1.005 | — | — | — | — | — | |
| DUSt3RFPS=1.12026.03 | — | 1.462 | 0.927 | 1.195 | — | — | — | — | — | |
| MASt3RAlignment=Global alignment, Time=~9s2025.03 | — | 0.968 | 0.684 | 0.826 | — | — | — | — | — | |
| MASt3RFPS=1.82026.03 | — | 1.267 | 0.784 | 1.026 | — | — | — | — | — | |
| StreamVGGTFPS=3.52026.03 | — | 1.14 | 0.613 | 0.87 | — | — | — | — | — | |
| VGGTMethod Variant=Ours (Point), Head=Point map head, Processing=Feed-forward, Time=~0.2s2025.03 | — | 0.901 | 0.518 | 0.709 | — | — | — | — | — | |
| VGGTMethod Variant=Ours (Depth + Cam), Head=Depth map head combined with camera head, Processing=Feed-forward, Time=~0.2s2025.03 | — | 0.873 | 0.482 | 0.677 | — | — | — | — | — | |
| VGGTFPS=2.62026.03 | — | 1.167 | 0.639 | 0.903 | — | — | — | — | — | |
| WinT3RFPS=3.22026.03 | — | 1.131 | 0.617 | 0.891 | — | — | — | — | — |