Pose Estimation on RE10K
0.755AUC @ 5°NoDrift3R
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| NoDrift3RResolution=224x224, Input views=6, Zero-shot evaluation=true2026.07 | 0.755 | 0.911 | 0.923 | — | — | — | — | |
| YoNoSplatResolution=224x224, Input views=6, Zero-shot evaluation=true2026.07 | 0.74 | 0.895 | 0.924 | — | — | — | — | |
| YoNoSplatResolution=224×224, Backbone=π³2026.03 | 0.722 | 0.852 | 0.923 | — | — | — | — | |
| 2XplatResolution=224×224, Backbone=DA32026.03 | 0.718 | 0.843 | 0.912 | — | — | — | — | |
| π³Resolution=518×2802026.03 | 0.705 | 0.841 | 0.916 | — | — | — | — | |
| pi^3Resolution=518x280, Input views=6, Zero-shot evaluation=true2026.07 | 0.705 | 0.841 | 0.916 | — | — | — | — | |
| DA3Resolution=504×5042026.03 | 0.694 | 0.826 | 0.9 | — | — | — | — | |
| G3SplatPose Estimation Method Category=w/ Refinement, Configuration=3DGS+Align+Orient, Refinement loss=same loss as train2025.12 | 0.684 | 0.801 | 0.875 | — | — | — | — | |
| NAS3R-IBackbone=MASt3R, GT intrinsics=true2026.03 | 0.683 | 0.803 | 0.878 | — | — | — | — | |
| NAS3R-IBackbone=VGGT, GT intrinsics=true2026.03 | 0.677 | 0.803 | 0.881 | — | — | — | — | |
| NoPoSplatPose Estimation Method Category=w/ Refinement, Refinement loss=same loss as train2025.12 | 0.672 | 0.791 | 0.868 | — | — | — | — | |
| SPFSplatV2-LType=NVS-based2026.03 | 0.645 | 0.78 | 0.864 | — | — | — | — | |
| SPFSplatV2Type=NVS-based2026.03 | 0.638 | 0.776 | 0.863 | — | — | — | — | |
| NAS3RBackbone=MASt3R, GT intrinsics=false2026.03 | 0.638 | 0.776 | 0.864 | — | — | — | — | |
| G3SplatPose Estimation Method Category=PnP+RANSAC, Configuration=3DGS+Align+Orient2025.12 | 0.629 | 0.77 | 0.858 | — | — | — | — | |
| NAS3RBackbone=VGGT, GT intrinsics=false2026.03 | 0.624 | 0.772 | 0.866 | — | — | — | — | |
| SPFSplatType=NVS-based2026.03 | 0.617 | 0.755 | 0.845 | — | — | — | — | |
| MASt3RResolution=518×2882026.03 | 0.609 | 0.776 | 0.878 | — | — | — | — | |
| MASt3RResolution=518x288, Input views=6, Zero-shot evaluation=true2026.07 | 0.609 | 0.776 | 0.878 | — | — | — | — | |
| NoPoSplatPose Estimation Method Category=PnP+RANSAC, Photometric pose refinement status=false2025.12 | 0.572 | 0.728 | 0.833 | — | — | — | — | |
| NoPoSplatType=NVS-based2026.03 | 0.572 | 0.728 | 0.833 | — | — | — | — | |
| VGGTResolution=518×2802026.03 | 0.566 | 0.753 | 0.867 | — | — | — | — | |
| VGGTResolution=518x280, Input views=6, Zero-shot evaluation=true2026.07 | 0.566 | 0.753 | 0.867 | — | — | — | — | |
| RoMaTrained on additional data=true, Extra supervision=ground-truth depth2025.12 | 0.546 | 0.698 | 0.797 | — | — | — | — | |
| F4Splattraining_dataset=RE10K2026.03 | 0.541 | 0.704 | 0.814 | — | — | — | — | |
| NoPoSplatResolution=256×256, Backbone=MASt3R2026.03 | 0.443 | 0.627 | 0.755 | — | — | — | — | |
| NoPoSplatResolution=256x256, Input views=6, Zero-shot evaluation=true2026.07 | 0.443 | 0.627 | 0.755 | — | — | — | — | |
| MASt3RTrained on additional data=true, Extra supervision=ground-truth depth2025.12 | 0.372 | 0.561 | 0.709 | — | — | — | — | |
| MASt3R2026.03 | 0.372 | 0.561 | 0.709 | — | — | — | — | |
| DUSt3RType=SfM-based2026.03 | 0.336 | 0.541 | 0.702 | — | — | — | — | |
| VGGT2026.03 | 0.335 | 0.531 | 0.696 | — | — | — | — | |
| AnySplattraining_dataset=RE10K2026.03 | 0.315 | 0.522 | 0.694 | — | — | — | — | |
| DUSt3RTrained on additional data=true, Extra supervision=ground-truth depth2025.12 | 0.301 | 0.495 | 0.657 | — | — | — | — | |
| DUSt3R2026.03 | 0.301 | 0.495 | 0.657 | — | — | — | — | |
| MASt3RType=SfM-based2026.03 | 0.281 | 0.494 | 0.671 | — | — | — | — | |
| VGGTType=SfM-based2026.03 | 0.257 | 0.474 | 0.658 | — | — | — | — | |
| PF3platType=NVS-based2026.03 | 0.187 | 0.398 | 0.613 | — | — | — | — | |
| CoPoNeRFTrained on additional data=true2025.12 | 0.161 | 0.362 | 0.575 | — | — | — | — | |
| Splatt3RPose Estimation Method Category=PnP+RANSAC, Trained on additional data=true2025.12 | 0.158 | 0.325 | 0.504 | — | — | — | — | |
| SelfSplatPose Estimation Method Category=w/ Refinement, Refinement loss=same loss as train2025.12 | 0.031 | 0.086 | 0.182 | — | — | — | — | |
| SelfSplatPose Estimation Method Category=PnP+RANSAC2025.12 | 0.03 | 0.083 | 0.18 | — | — | — | — | |
| Block Sparse-VGGTSparse Ratio (%) / Anchor Number=252026.03 | — | — | — | — | — | — | 71.79 | |
| Block Sparse-VGGTSparse Ratio (%) / Anchor Number=502026.03 | — | — | — | — | — | — | 68.25 | |
| Block Sparse-VGGTSparse Ratio (%) / Anchor Number=752026.03 | — | — | — | — | — | — | 63.82 | |
| Block Sparse-π3Sparse Ratio (%) / Anchor Number=252026.03 | — | — | — | — | — | — | 85.18 | |
| Block Sparse-π3Sparse Ratio (%) / Anchor Number=502026.03 | — | — | — | — | — | — | 81.29 | |
| Block Sparse-π3Sparse Ratio (%) / Anchor Number=752026.03 | — | — | — | — | — | — | 75.39 | |
| FastVGGTSparse Ratio (%) / Anchor Number=252026.03 | — | — | — | — | — | — | 72.97 | |
| FastVGGTSparse Ratio (%) / Anchor Number=502026.03 | — | — | — | — | — | — | 71.55 | |
| FastVGGTSparse Ratio (%) / Anchor Number=822026.03 | — | — | — | — | — | — | 69.99 | |
| FastVGGT-π3Sparse Ratio (%) / Anchor Number=252026.03 | — | — | — | — | — | — | 87.26 | |
| FastVGGT-π3Sparse Ratio (%) / Anchor Number=502026.03 | — | — | — | — | — | — | 86.67 | |
| FastVGGT-π3Sparse Ratio (%) / Anchor Number=902026.03 | — | — | — | — | — | — | 86.04 | |
| RayZerThreshold=10°2025.10 | — | — | — | 99.1 | 57.1 | 29.6 | — | |
| RayZerThreshold=20°2025.10 | — | — | — | 99.9 | 78.6 | 49.8 | — | |
| RayZerThreshold=30°2025.10 | — | — | — | 99.9 | 86.6 | 60.8 | — | |
| RUSTThreshold=10°2025.10 | — | — | — | 97.4 | 49.1 | 24.6 | — | |
| RUSTThreshold=20°2025.10 | — | — | — | 99.1 | 72.8 | 43.7 | — | |
| RUSTThreshold=30°2025.10 | — | — | — | 99.4 | 82.7 | 55.1 | — | |
| SAIL-ReconSparse Ratio (%) / Anchor Number=10 anchor2026.03 | — | — | — | — | — | — | 74.31 | |
| SAIL-ReconSparse Ratio (%) / Anchor Number=5 anchor2026.03 | — | — | — | — | — | — | 72.66 | |
| SAIL-ReconSparse Ratio (%) / Anchor Number=2 anchor2026.03 | — | — | — | — | — | — | 69.11 | |
| Speed3R-VGGTSparse Ratio (%) / Anchor Number=842026.03 | — | — | — | — | — | — | 74.81 | |
| Speed3R-π3Sparse Ratio (%) / Anchor Number=942026.03 | — | — | — | — | — | — | 87.17 | |
| VGGTSparse Ratio (%) / Anchor Number=02026.03 | — | — | — | — | — | — | 74.17 | |
| XFactorThreshold=10°2025.10 | — | — | — | 99.3 | 73.95 | 46.8 | — | |
| XFactorThreshold=20°2025.10 | — | — | — | 99.8 | 87.5 | 64.5 | — | |
| XFactorThreshold=30°2025.10 | — | — | — | 99.8 | 91.9 | 72.9 | — | |
| π3Sparse Ratio (%) / Anchor Number=02026.03 | — | — | — | — | — | — | 87.37 |