Pose Estimation on ScanNet v2
0.031Avg ATE (cm)Ours(G=N)
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Ours(G=N)Scale=Scale-Invariant, Online=false2026.05 | 0.031 | — | — | — | — | — | — | 0.014 | 0.38 | 2.56 | |
| VGGTScale=Scale-Invariant, Online=false2026.05 | 0.032 | — | — | — | — | — | — | 0.015 | 0.382 | 3.33 | |
| π³Scale=Scale-Invariant, Online=false2026.05 | 0.032 | — | — | — | — | — | — | 0.013 | 0.36 | 1.56 | |
| DepthAnything3Scale=Scale-Invariant, Online=false2026.05 | 0.033 | — | — | — | — | — | — | 0.014 | 0.468 | 2.56 | |
| Ours(G=1)Scale=Scale-Invariant, Online=true2026.05 | 0.037 | — | — | — | — | — | — | 0.016 | 0.424 | 1.44 | |
| Ours(G=N)Scale=Metric-Scale, Online=false2026.05 | 0.038 | — | — | — | — | — | — | 0.014 | 0.38 | 1.44 | |
| DepthAnything3Scale=Metric-Scale, Online=false2026.05 | 0.044 | — | — | — | — | — | — | 0.014 | 0.468 | 1.56 | |
| StreamVGGTScale=Scale-Invariant, Online=true2026.05 | 0.045 | — | — | — | — | — | — | 0.017 | 0.467 | 2.11 | |
| Ours(G=1)Scale=Metric-Scale, Online=true2026.05 | 0.045 | — | — | — | — | — | — | 0.016 | 0.424 | 1.33 | |
| MapAnythingScale=Scale-Invariant, Online=false2026.05 | 0.093 | — | — | — | — | — | — | 0.032 | 1.158 | 5 | |
| CUT3RScale=Scale-Invariant, Online=true2026.05 | 0.096 | — | — | — | — | — | — | 0.022 | 0.549 | 2.44 | |
| CUT3RScale=Metric-Scale, Online=true2026.05 | 0.112 | — | — | — | — | — | — | 0.021 | 0.549 | 1.67 | |
| MapAnythingScale=Metric-Scale, Online=false2026.05 | 0.148 | — | — | — | — | — | — | 0.04 | 1.155 | 3 | |
| HI-SLAM22025.11 | 7.16 | 5.82 | 7.3 | 6.8 | 8.25 | 7.41 | 7.4 | — | — | — | |
| SING3R-SLAM2025.11 | 7.41 | 5.7 | 7.2 | 6.75 | 8.02 | 8.47 | 8.31 | — | — | — | |
| Splat-SLAM2025.11 | 7.66 | 5.57 | 9.11 | 7.09 | 8.26 | 8.39 | 7.53 | — | — | — | |
| MASt3R-SLAM2025.11 | 7.95 | 6.96 | 8.48 | 9.53 | 8.34 | 7.16 | 7.2 | — | — | — | |
| VGGT-SLAM2025.11 | 19.3 | 12.79 | 10.21 | 39.89 | 22.38 | 12.63 | 17.97 | — | — | — | |
| MonoGS2025.11 | 122.7 | 149.2 | 96.8 | 155.5 | 140.3 | 92.6 | 101.9 | — | — | — |