Pose Estimation on ACID
46.6AUC @ 5°G3Splat
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| G3SplatPose Estimation Method Category=w/ Refinement, Configuration=3DGS+Align+Orient, Refinement loss=same loss as train2025.12 | 46.6 | 59.8 | 71.3 | |
| RoMaTrained on additional data=true, Extra supervision=ground-truth depth2025.12 | 46.3 | 58.8 | 68.9 | |
| NoPoSplatPose Estimation Method Category=w/ Refinement, Refinement loss=same loss as train2025.12 | 45.6 | 59.3 | 70.5 | |
| NAS3R-IBackbone=VGGT, GT intrinsics=true2026.03 | 44 | 58.4 | 70.4 | |
| NAS3R-IBackbone=MASt3R, GT intrinsics=true2026.03 | 43.8 | 58.4 | 70.7 | |
| G3SplatPose Estimation Method Category=PnP+RANSAC, Configuration=3DGS+Align+Orient2025.12 | 40.4 | 56 | 68.9 | |
| SPFSplatV2Type=NVS-based2026.03 | 38.7 | 54.1 | 67.2 | |
| SPFSplatV2-LType=NVS-based2026.03 | 37.9 | 53.9 | 67.1 | |
| SPFSplatType=NVS-based2026.03 | 36.4 | 52 | 66.2 | |
| NAS3RBackbone=MASt3R, GT intrinsics=false2026.03 | 35.8 | 53.3 | 67.7 | |
| NoPoSplatPose Estimation Method Category=PnP+RANSAC, Photometric pose refinement status=false2025.12 | 33.7 | 49.7 | 64.6 | |
| NAS3RBackbone=VGGT, GT intrinsics=false2026.03 | 33.6 | 52.2 | 67.1 | |
| NoPoSplatType=NVS-based2026.03 | 33.5 | 49.7 | 64.5 | |
| MASt3RTrained on additional data=true, Extra supervision=ground-truth depth2025.12 | 23.4 | 39.6 | 54.1 | |
| DUSt3RTrained on additional data=true, Extra supervision=ground-truth depth2025.12 | 16.6 | 30.4 | 43.7 | |
| VGGTType=SfM-based2026.03 | 14.2 | 30.4 | 48.6 | |
| MASt3RType=SfM-based2026.03 | 13.8 | 31.2 | 50.7 | |
| DUSt3RType=SfM-based2026.03 | 11.8 | 27.9 | 47 | |
| CoPoNeRFTrained on additional data=true2025.12 | 7.8 | 21.6 | 39.8 | |
| SelfSplatPose Estimation Method Category=w/ Refinement, Refinement loss=same loss as train2025.12 | 6.9 | 15.6 | 28.5 | |
| SelfSplatPose Estimation Method Category=PnP+RANSAC2025.12 | 6.4 | 15.3 | 28.3 | |
| PF3platType=NVS-based2026.03 | 6 | 16.5 | 34 | |
| Splatt3RPose Estimation Method Category=PnP+RANSAC, Trained on additional data=true2025.12 | 4.4 | 12.1 | 26 |