Pose Estimation on ScanNet
22.49AUC @ 5 degXRefine general
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| XRefine generalExtract+Match=SP+LG2026.01 | 22.49 | 40.58 | 57.27 | |
| XRefine specificExtract+Match=SP+LG2026.01 | 21.9 | 40.1 | 56.83 | |
| PixSfMExtract+Match=SP+LG2026.01 | 21.25 | 39.29 | 55.93 | |
| Keypt2SubpxExtract+Match=SP+LG2026.01 | 20.31 | 38.21 | 55.43 | |
| SP+LGRefinement=None2026.01 | 19.48 | 37.4 | 54.79 | |
| RoMaTrained on additional data=true, Extra supervision=ground-truth depth2025.12 | 16.8 | 36.1 | 57.5 | |
| XRefine specificExtract+Match=SP+MNN2026.01 | 14.86 | 28.38 | 42.48 | |
| G3SplatPose Estimation Method Category=w/ Refinement, Configuration=3DGS+Align+Orient, Refinement loss=same loss as train2025.12 | 14.8 | 32.6 | 54 | |
| XRefine generalExtract+Match=SP+MNN2026.01 | 14.63 | 28.23 | 42.33 | |
| XRefine generalExtract+Match=XFeat*+MNN2026.01 | 14.16 | 27.23 | 41.63 | |
| XRefine specificExtract+Match=XFeat*+MNN2026.01 | 14.16 | 27.5 | 41.99 | |
| PixSfMExtract+Match=SP+MNN2026.01 | 13.56 | 26.78 | 40.66 | |
| Keypt2SubpxExtract+Match=XFeat*+MNN2026.01 | 13.23 | 26.29 | 40.66 | |
| XRefine specificExtract+Match=XFeat+MNN2026.01 | 12.97 | 26.07 | 40.02 | |
| XFeat-Refine.Extract+Match=XFeat*+MNN2026.01 | 12.89 | 26.3 | 41.17 | |
| XRefine generalExtract+Match=XFeat+MNN2026.01 | 12.51 | 25.49 | 39.43 | |
| PixSfMExtract+Match=XFeat*+MNN2026.01 | 12.42 | 24.99 | 39.25 | |
| G3SplatPose Estimation Method Category=PnP+RANSAC, Configuration=3DGS+Align+Orient2025.12 | 12.4 | 28.2 | 49.3 | |
| Keypt2SubpxExtract+Match=SP+MNN2026.01 | 12.36 | 25.07 | 39.2 | |
| PixSfMExtract+Match=XFeat+MNN2026.01 | 12.08 | 24.4 | 38.23 | |
| XRefine specificExtract+Match=DeDoDe+DSM2026.01 | 11.71 | 23.55 | 35.51 | |
| XRefine generalExtract+Match=DeDoDe+DSM2026.01 | 11.55 | 23.15 | 35.27 | |
| SP+MNNRefinement=None2026.01 | 11.51 | 23.87 | 37.92 | |
| Keypt2SubpxExtract+Match=XFeat+MNN2026.01 | 11.27 | 23.32 | 37.08 | |
| Keypt2SubpxExtract+Match=DeDoDe+DSM2026.01 | 11.2 | 23.02 | 34.99 | |
| NoPoSplatPose Estimation Method Category=w/ Refinement, Refinement loss=same loss as train2025.12 | 10.9 | 25.6 | 46.3 | |
| PixSfMExtract+Match=DeDoDe+DSM2026.01 | 10.44 | 21.85 | 33.98 | |
| XFeat+MNNRefinement=None2026.01 | 10.28 | 22.04 | 35.77 | |
| DeDoDe+DSMRefinement=None2026.01 | 10.13 | 21.04 | 32.42 | |
| DUSt3RTrained on additional data=true, Extra supervision=ground-truth depth2025.12 | 8.5 | 21 | 39.8 | |
| XFeat*+MNNRefinement=None2026.01 | 8.32 | 18.65 | 32.21 | |
| MASt3RTrained on additional data=true, Extra supervision=ground-truth depth2025.12 | 8.3 | 20 | 38.1 | |
| NoPoSplatPose Estimation Method Category=PnP+RANSAC, Photometric pose refinement status=false2025.12 | 7.8 | 19.8 | 39.4 | |
| XRefine specificExtract+Match=SIFT+MNN2026.01 | 6.08 | 12.79 | 20.72 | |
| XRefine generalExtract+Match=SIFT+MNN2026.01 | 6.03 | 12.71 | 20.65 | |
| SIFT+MNNRefinement=None2026.01 | 5.83 | 12.32 | 20.14 | |
| Keypt2SubpxExtract+Match=SIFT+MNN2026.01 | 5.8 | 12.37 | 20.16 | |
| PixSfMExtract+Match=SIFT+MNN2026.01 | 5.61 | 11.88 | 19.36 | |
| SelfSplatPose Estimation Method Category=w/ Refinement, Refinement loss=same loss as train2025.12 | 3.3 | 11.2 | 27.4 | |
| SelfSplatPose Estimation Method Category=PnP+RANSAC2025.12 | 3 | 9.8 | 25.4 | |
| Splatt3RPose Estimation Method Category=PnP+RANSAC, Trained on additional data=true2025.12 | 1.1 | 4.2 | 11.9 |