Relative Pose Estimation on ScanNet 1500
34.8AUC@5°Reloc3r
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Reloc3rModel Type=feed-forward 3D reconstruction2025.11 | 34.8 | 58.4 | 75.6 | |
| VGGTMatching category=Feed-forward Reconstruction2026.04 | 33.9 | 55.2 | 73.4 | |
| VGGTModel Type=feed-forward 3D reconstruction, reproduced=true2025.11 | 33.9 | 55.2 | 73.4 | |
| MASt3RMatching category=Feed-forward Reconstruction2026.04 | 33.6 | 56.8 | 74.1 | |
| RoMa v2Matching category=Dense Matchers2026.04 | 33.6 | 56.2 | 73.8 | |
| MASt3RModel Type=feed-forward 3D reconstruction2025.11 | 33.6 | 56.8 | 74.1 | |
| RoMa v2Model Type=feature matcher2025.11 | 33.6 | 56.2 | 73.8 | |
| RoMaMatching category=Dense Matchers2026.04 | 31.8 | 53.4 | 70.9 | |
| RoMaModel Type=feature matcher2025.11 | 31.8 | 53.4 | 70.9 | |
| UFMMatching category=Dense Matchers2026.04 | 31.3 | 54.1 | 72 | |
| UFMModel Type=feature matcher, reproduced=true2025.11 | 31.3 | 54.1 | 72 | |
| DKMModel Type=feature matcher2025.11 | 29.4 | 50.7 | 68.3 | |
| LoMa-LMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 29.3 | 51.9 | 70.3 | |
| LoMa-GMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 29.3 | 51.7 | 70 | |
| NoRotEvaluation Protocol=Non-rotated2026.04 | 28.5 | 50.5 | 68.7 | |
| RotMatchEvaluation Protocol=Non-rotated2026.04 | 28.4 | 50.6 | 69.1 | |
| RotDesc&MatchEvaluation Protocol=Non-rotated2026.04 | 28.3 | 50.3 | 68.4 | |
| RotMatchEvaluation Protocol=Rotated2026.04 | 27.6 | 49.6 | 68.1 | |
| LoMa-BMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 27.5 | 49.7 | 68.2 | |
| RotDesc&MatchEvaluation Protocol=Rotated2026.04 | 27.4 | 49.5 | 68 | |
| LoMa-B128Matching category=Sparse Matchers, Number of keypoints=40962026.04 | 24.8 | 45.5 | 63.7 | |
| LoFTRMatching category=Dense Matchers2026.04 | 22.1 | 40.8 | 57.6 | |
| LoFTRModel Type=feature matcher2025.11 | 22.1 | 40.8 | 57.6 | |
| LoMa Desc.Matching category=Detect+Describe, Number of keypoints=40962026.04 | 18.7 | 37.2 | 55.6 | |
| LightGlueModel Type=feature matcher2025.11 | 17.8 | 34 | 52 | |
| NoRotEvaluation Protocol=Rotated2026.04 | 16.8 | 31.2 | 44.3 | |
| SP+SGMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 16.4 | 32.5 | 49 | |
| SP+SGEvaluation Protocol=Non-rotated2026.04 | 16.4 | 32.5 | 49 | |
| SP+LGMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 15.9 | 32.1 | 48.9 | |
| SP+LGEvaluation Protocol=Non-rotated2026.04 | 15.9 | 32.1 | 48.9 | |
| ALIKED+LGMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 14.5 | 28.9 | 43.5 | |
| ALIKED+LGEvaluation Protocol=Non-rotated2026.04 | 14.5 | 28.9 | 43.5 | |
| DeDoDe-GMatching category=Detect+Describe, Number of keypoints=40962026.04 | 13.5 | 27.3 | 41.9 | |
| DISK+LGMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 9.3 | 19.3 | 30.8 | |
| ALIKEDMatching category=Detect+Describe, Number of keypoints=40962026.04 | 6.7 | 14.6 | 25 | |
| DISKMatching category=Detect+Describe, Number of keypoints=40962026.04 | 6.4 | 13.9 | 23.2 | |
| SP+SGEvaluation Protocol=Rotated2026.04 | 4.6 | 9.6 | 15 | |
| SP+LGEvaluation Protocol=Rotated2026.04 | 3.7 | 7.8 | 12.3 | |
| ALIKED+LGEvaluation Protocol=Rotated2026.04 | 3.4 | 6.9 | 10.6 |