Pose Estimation on 7-Scenes
0.02Average Median Translation Error (m)DFNet+NeFeS
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DFNet+NeFeSCategory=APR, Dataset-specific training time=Days / scene2025.12 | 0.02 | 0.02 | 0.57 | 0.02 | 0.74 | 0.02 | 1.28 | 0.02 | 0.56 | 0.02 | 0.55 | 0.02 | 0.57 | 0.05 | 1.28 | 0.79 | |
| MarepoCategory=APR, Dataset-specific training time=15min / scene2025.12 | 0.03 | 0.02 | 1.24 | 0.02 | 1.39 | 0.02 | 2.03 | 0.03 | 1.26 | 0.04 | 1.48 | 0.04 | 1.71 | 0.06 | 1.67 | 1.54 | |
| Reloc-VGGTCategory=RPR, Evaluation Setting=Unseen, Dataset-specific training time=None2025.12 | 0.031 | 0.025 | 0.767 | 0.024 | 0.833 | 0.013 | 0.77 | 0.036 | 0.827 | 0.048 | 1.04 | 0.039 | 1.249 | 0.038 | 0.776 | 0.896 | |
| Reloc-VGGT (mask)Category=RPR, Evaluation Setting=Unseen, Dataset-specific training time=None2025.12 | 0.039 | 0.027 | 0.861 | 0.028 | 0.871 | 0.014 | 0.818 | 0.039 | 0.85 | 0.053 | 1.213 | 0.042 | 1.48 | 0.074 | 1.178 | 1.033 | |
| CamNetCategory=RPR, Evaluation Setting=Seen, Dataset-specific training time=Hours2025.12 | 0.04 | 0.04 | 1.73 | 0.03 | 1.74 | 0.05 | 1.98 | 0.04 | 1.62 | 0.04 | 1.64 | 0.04 | 1.63 | 0.04 | 1.51 | 1.69 | |
| Reloc3r-512Category=RPR, Evaluation Setting=Unseen, Dataset-specific training time=None2025.12 | 0.041 | 0.027 | 0.882 | 0.028 | 0.805 | 0.013 | 0.953 | 0.041 | 0.876 | 0.062 | 1.105 | 0.043 | 1.264 | 0.07 | 1.357 | 1.035 | |
| PMNetCategory=APR, Dataset-specific training time=Days / scene2025.12 | 0.06 | 0.03 | 1.26 | 0.04 | 1.76 | 0.06 | 1.68 | 0.06 | 1.9 | 0.07 | 1.91 | 0.08 | 2.23 | 0.11 | 2.97 | 1.96 | |
| ExReNetCategory=RPR, Evaluation Setting=Unseen, Context=SUNCG, Dataset-specific training time=None2025.12 | 0.07 | 0.05 | 2.75 | 0.07 | 2.6 | 0.08 | 3 | 0.07 | 2.17 | 0.09 | 2.75 | 0.07 | 3.47 | 0.07 | 7.74 | 3.07 | |
| LENSCategory=APR, Dataset-specific training time=Days / scene2025.12 | 0.08 | 0.03 | 1.3 | 0.1 | 3.7 | 0.07 | 5.8 | 0.07 | 1.9 | 0.08 | 2.2 | 0.09 | 2.2 | 0.14 | 3.6 | 3 | |
| AnchorNetCategory=RPR, Evaluation Setting=Seen, Dataset-specific training time=Hours2025.12 | 0.09 | 0.06 | 3.89 | 0.15 | 10.3 | 0.08 | 10.9 | 0.09 | 4.9 | 0.2 | 2.97 | 0.08 | 4.68 | 0.1 | 9.26 | 6.74 | |
| ExReNetCategory=RPR, Evaluation Setting=Unseen, Context=SN, Dataset-specific training time=None2025.12 | 0.09 | 0.06 | 3.3 | 0.09 | 5.2 | 0.09 | 3.04 | 0.07 | 2.17 | 0.11 | 2.75 | 0.09 | 3.47 | 0.09 | 7.74 | 3.95 | |
| Map-free (Match)Category=RPR, Evaluation Setting=Unseen, Dataset-specific training time=None2025.12 | 0.12 | 0.1 | 2.93 | 0.12 | 4.95 | 0.11 | 5.44 | 0.12 | 3.77 | 0.14 | 3.45 | 0.14 | 4.45 | 0.14 | 4.5 | 4.07 | |
| Map-free (Regress)Category=RPR, Evaluation Setting=Unseen, Dataset-specific training time=None2025.12 | 0.12 | 0.09 | 2.64 | 0.13 | 4.54 | 0.11 | 4.81 | 0.11 | 3.77 | 0.13 | 3.11 | 0.13 | 4.11 | 0.13 | 4.7 | 3.95 | |
| RelocNetCategory=RPR, Evaluation Setting=Seen, Context Size=7S, Dataset-specific training time=Hours2025.12 | 0.16 | 0.12 | 4.14 | 0.21 | 7.5 | 0.13 | 8.7 | 0.15 | 4.5 | 0.13 | 5.3 | 0.21 | 5.08 | 0.28 | 7.53 | 5.73 | |
| Relpose-GNNCategory=RPR, Evaluation Setting=Seen, Dataset-specific training time=Hours2025.12 | 0.16 | 0.08 | 2.7 | 0.21 | 5.3 | 0.13 | 8.7 | 0.15 | 4.3 | 0.13 | 5.09 | 0.19 | 5.3 | 0.22 | 6.5 | 5.2 | |
| ImageNet+NCMCategory=RPR, Evaluation Setting=Unseen, Dataset-specific training time=None2025.12 | 0.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4.3 | |
| Relative PNCategory=RPR, Evaluation Setting=Seen, Context Size=7S, Dataset-specific training time=Hours2025.12 | 0.21 | 0.13 | 6.46 | 0.26 | 12.72 | 0.14 | 12.34 | 0.21 | 7.35 | 0.24 | 6.35 | 0.24 | 8.03 | 0.27 | 11.82 | 9.3 | |
| NC-EssNetCategory=RPR, Evaluation Setting=Seen, Context Size=7S, Dataset-specific training time=Hours2025.12 | 0.21 | 0.26 | 10.44 | — | — | 0.26 | 10.4 | 0.18 | 5.32 | — | — | 0.23 | 7.45 | — | — | 7.5 | |
| EssNetCategory=RPR, Evaluation Setting=Seen, Context Size=7S, Dataset-specific training time=Hours2025.12 | 0.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8.03 | |
| RelocNetCategory=RPR, Evaluation Setting=Unseen, Context=SN, Dataset-specific training time=None2025.12 | 0.29 | 0.21 | 10.9 | 0.28 | 11.4 | 0.23 | 11.8 | 0.31 | 10.3 | 0.4 | 10.9 | 0.33 | 11.4 | 0.33 | 11.4 | 11.3 | |
| Relative PNCategory=RPR, Evaluation Setting=Unseen, Context=U, Dataset-specific training time=None2025.12 | 0.36 | 0.31 | 15.05 | 0.4 | 19 | 0.24 | 22.15 | 0.38 | 14.14 | 0.44 | 18.24 | 0.41 | 16.51 | 0.35 | 23.55 | 18.38 | |
| NC-EssNetCategory=RPR, Evaluation Setting=Unseen, Context=CL, Dataset-specific training time=None2025.12 | 0.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 32.97 | |
| EssNetCategory=RPR, Evaluation Setting=Unseen, Context=CL, Dataset-specific training time=None2025.12 | 0.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.06 | |
| SING3R-SLAM2025.11 | 4.9 | 3.3 | — | 2.7 | — | 4.5 | — | 7.2 | — | 8.7 | — | 3.6 | — | 4.5 | — | — | |
| ViSTA-SLAM2025.11 | 5.5 | 7.3 | — | 3.5 | — | 2.8 | — | 5.5 | — | 12.9 | — | 3.5 | — | 2.9 | — | — | |
| HI-SLAM22025.11 | 5.5 | 3.8 | — | 3.1 | — | 2.6 | — | 8.5 | — | 14.2 | — | 4 | — | 2.4 | — | — | |
| MASt3R-SLAM2025.11 | 6.6 | 6.3 | — | 4.6 | — | 2.9 | — | 10.3 | — | 11.2 | — | 7.4 | — | 3.2 | — | — | |
| VGGT-SLAM2025.11 | 6.7 | 3.6 | — | 2.8 | — | 1.8 | — | 10.3 | — | 13.3 | — | 5.8 | — | 9.3 | — | — | |
| CUT3R2025.11 | 47.7 | 74.3 | — | 22.6 | — | 36.3 | — | 66.4 | — | 54.6 | — | 38.1 | — | 41.3 | — | — |