Pose Estimation on ScanNet++
84.3Camera Pose AUC @ 3°DA3+Free Geo
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| DA3+Free GeoView=1002026.04 | 84.3 | — | — | — | — | — | 98.1 | — | |
| DA3View=1002026.04 | 84.2 | — | — | — | — | — | 98 | — | |
| DA3View=642026.04 | 83.8 | — | — | — | — | — | 97.8 | — | |
| DA3+Free GeoView=642026.04 | 83.8 | — | — | — | — | — | 97.7 | — | |
| DA3View=322026.04 | 82.2 | — | — | — | — | — | 96.8 | — | |
| DA3+Free GeoView=322026.04 | 82.1 | — | — | — | — | — | 96.8 | — | |
| DA3+Free GeoView=162026.04 | 79.2 | — | — | — | — | — | 94.4 | — | |
| DA3View=162026.04 | 79.1 | — | — | — | — | — | 94.4 | — | |
| DA3+Free GeoView=82026.04 | 72.3 | — | — | — | — | — | 87.7 | — | |
| DA3+Free Geo#View=82026.04 | 72.3 | — | — | — | — | — | — | — | |
| DA3View=82026.04 | 72.2 | — | — | — | — | — | 87.6 | — | |
| DA3#View=82026.04 | 72.2 | — | — | — | — | — | — | — | |
| DA3+Free GeoView=42026.04 | 62.4 | — | — | — | — | — | 79.9 | — | |
| DA3+Free Geo#View=42026.04 | 62.4 | — | — | — | — | — | — | — | |
| DA3View=42026.04 | 62 | — | — | — | — | — | 79.8 | — | |
| DA3#View=42026.04 | 62 | — | — | — | — | — | — | — | |
| VGGT+Free GeoView=1002026.04 | 61.6 | — | — | — | — | — | 94.8 | — | |
| VGGT+Free GeoView=642026.04 | 61.4 | — | — | — | — | — | 94.6 | — | |
| VGGTView=1002026.04 | 61 | — | — | — | — | — | 94.7 | — | |
| VGGTView=642026.04 | 60.7 | — | — | — | — | — | 94.4 | — | |
| VGGT+Free GeoView=322026.04 | 58.6 | — | — | — | — | — | 94 | — | |
| VGGTView=322026.04 | 57.9 | — | — | — | — | — | 93.9 | — | |
| VGGT+Free GeoView=162026.04 | 53.8 | — | — | — | — | — | 92.8 | — | |
| VGGTView=162026.04 | 52.9 | — | — | — | — | — | 92.6 | — | |
| VGGT+Free GeoView=82026.04 | 50.1 | — | — | — | — | — | 88.8 | — | |
| VGGT+Free Geo#View=82026.04 | 50.1 | — | — | — | — | — | — | — | |
| VGGTView=82026.04 | 49.6 | — | — | — | — | — | 88.6 | — | |
| VGGT#View=82026.04 | 49.6 | — | — | — | — | — | — | — | |
| VGGT+Free GeoView=42026.04 | 41.9 | — | — | — | — | — | 81.2 | — | |
| VGGT+Free Geo#View=42026.04 | 41.9 | — | — | — | — | — | — | — | |
| VGGTView=42026.04 | 40.8 | — | — | — | — | — | 80.5 | — | |
| VGGT#View=42026.04 | 40.8 | — | — | — | — | — | — | — | |
| AnyCamZero-shot evaluation=true, Training with DL3DV-10K=No, MVG Annotations=w/o2026.04 | — | — | — | — | 0.084 | 15.376 | — | — | |
| CUT3R2026.04 | — | — | — | — | 1.27 | — | — | — | |
| DPVO++2026.04 | — | — | — | — | 0.91 | — | — | — | |
| DROID-SLAM2026.04 | — | — | — | — | 0.97 | — | — | — | |
| E-RayZerSelf-supervised=true, Training Data=RE10K [81]2025.12 | — | 1.1 | 13.3 | 37.3 | — | — | — | — | |
| E-RayZerSelf-supervised=true, Training Data=DL3DV [33]2025.12 | — | 7.7 | 33.6 | 63 | — | — | — | — | |
| E-RayZerSelf-supervised=true, Training Data=7 datasets2025.12 | — | 5.7 | 34.8 | 63.7 | — | — | — | — | |
| FastVGGT2026.04 | — | — | — | — | 1.56 | — | — | — | |
| MASt3R-SfM2026.04 | — | — | — | — | 1.5 | — | — | — | |
| MASt3R-SLAM2026.04 | — | — | — | — | 0.47 | — | — | — | |
| RayZerSelf-supervised=true, Training Data=DL3DV [33]2025.12 | — | 0 | 0.7 | 6.2 | — | — | — | — | |
| RayZerSelf-supervised=true, Training Data=7 datasets2025.12 | — | 0 | 0.9 | 9 | — | — | — | — | |
| Reliev3RZero-shot evaluation=true, Training with DL3DV-10K=Alone, MVG Annotations=w/o2026.04 | — | — | — | — | 0.03 | 15.711 | — | — | |
| Scal3R2026.04 | — | — | — | — | 0.08 | — | — | — | |
| SPFSplatSelf-supervised=false, Training Data=RE10K [81] (+ extra), Initialization=MASt3R [12]2025.12 | — | 2.5 | 11.8 | 30.3 | — | — | — | — | |
| STream3R2026.04 | — | — | — | — | 1.75 | — | — | — | |
| StreamVGGT2026.04 | — | — | — | — | 1.7 | — | — | — | |
| TTT3R2026.04 | — | — | — | — | 0.55 | — | — | — | |
| VGGTOptimization=None, Inference wall-clock time (s)=37.12026.07 | — | — | — | — | — | — | — | 55.6 | |
| VGGT + BAOptimization=Bundle Adjustment (BA), Inference wall-clock time (s)=171.62026.07 | — | — | — | — | — | — | — | 70 | |
| VGGT + EPOOptimization=Edge-based Pose Optimization (EPO), Inference wall-clock time (s)=52.12026.07 | — | — | — | — | — | — | — | 77.1 | |
| VGGT + Ref+BAOptimization=Refinement + Bundle Adjustment (Ref+BA), Inference wall-clock time (s)=303.5, Hardware=NVIDIA H2002026.07 | — | — | — | — | — | — | — | 70.9 | |
| VGGT-Long2026.04 | — | — | — | — | 0.13 | — | — | — | |
| VGGT-SLAM2026.04 | — | — | — | — | 0.29 | — | — | — | |
| π^3Zero-shot evaluation=true, Training with DL3DV-10K=No, MVG Annotations=w2026.04 | — | — | — | — | 0.002 | 86.941 | — | — | |
| π^3†Zero-shot evaluation=true, Training with DL3DV-10K=Alone, MVG Annotations=w2026.04 | — | — | — | — | 0.028 | 17.789 | — | — |