Relative Pose Estimation on ScanNet 1500 pairs (test)
38.76AUC@5°π3
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| π3Backbone=π32026.03 | 38.76 | 61.57 | 77.61 | — | — | |
| VGGTBackbone=VGGT2026.03 | 37.45 | 59.24 | 75.69 | — | — | |
| Speed3R-VGGTBackbone=VGGT2026.03 | 37.02 | 59.11 | 75.62 | — | — | |
| Speed3R-π3Backbone=π32026.03 | 36.97 | 59.83 | 76.38 | — | — | |
| Reloc-VGGTPose Regression Category=PR, Inference time=45 ms2025.12 | 36.35 | 58.62 | 75.9 | — | — | |
| Block Sparse-π3Backbone=π32026.03 | 35.13 | 57.74 | 74.98 | — | — | |
| FastVGGT-π3Backbone=π32026.03 | 34.87 | 58.31 | 75.51 | — | — | |
| Reloc3r-512Inference time=25 ms, Category=PR2024.12 | 34.79 | 58.37 | 75.56 | — | — | |
| Reloc3r-512Pose Regression Category=PR, Inference time=25 ms2025.12 | 34.79 | 58.37 | 75.56 | — | — | |
| FastVGGT-VGGTBackbone=VGGT2026.03 | 33.59 | 56.21 | 73.47 | — | — | |
| MESA_DKMBase Matcher=DKM, Area Module=MESA2024.01 | 33.4 | 55 | 72 | — | — | |
| Dense EstimatorMatches=RoMa2025.06 | 33.3 | 55.2 | 72.2 | 64.6 | 1 | |
| Block Sparse-VGGTBackbone=VGGT2026.03 | 33.21 | 55.11 | 72.51 | — | — | |
| Ours CCAMatches=RoMa2025.06 | 33 | 54.9 | 72 | 1.4 | 46.3 | |
| Ours CCCMatches=RoMa2025.06 | 32.8 | 54.7 | 71.8 | 1.1 | 58.3 | |
| NoPoSplatInference time=>2000 ms, Category=Non-PR2024.12 | 31.8 | 53.8 | 71.7 | — | — | |
| NoPoSplatPose Regression Category=Non-PR, Inference time=>2000 ms2025.12 | 31.8 | 53.8 | 71.7 | — | — | |
| Dense EstimatorMatches=DKM2025.06 | 31.3 | 52.6 | 69.9 | 68.8 | 1 | |
| Ours CCAMatches=DKM2025.06 | 30.9 | 52.1 | 69.6 | 1.5 | 46.7 | |
| SEEM + SGAM_DKMBase Matcher=DKM, Area Module=SGAM2024.01 | 30.6 | 52.3 | 69.3 | — | — | |
| Ours CCCMatches=DKM2025.06 | 30.4 | 51.7 | 69.3 | 1.2 | 58.6 | |
| Dense EstimatorMatches=ASpanFormer2025.06 | 30.3 | 50.5 | 66.5 | 15.2 | 1 | |
| Ours CCAMatches=ASpanFormer2025.06 | 29.7 | 49.9 | 66.1 | 1.5 | 10.3 | |
| DKMBase Matcher=DKM2024.01 | 29.4 | 50.7 | 68.3 | — | — | |
| ROMAInference time=300 ms, Category=Non-PR2024.12 | 28.9 | 50.4 | 68.3 | — | — | |
| Ours CCCMatches=ASpanFormer2025.06 | 28.9 | 49.2 | 65.7 | 1.2 | 13 | |
| ROMAPose Regression Category=Non-PR, Inference time=300 ms2025.12 | 28.9 | 50.4 | 68.3 | — | — | |
| MESA_QuadTBase Matcher=QuadT, Area Module=MESA2024.01 | 28.7 | 46.5 | 61.9 | — | — | |
| Reloc3r-224Inference time=15 ms, Category=PR2024.12 | 28.34 | 52.6 | 71.56 | — | — | |
| MASt3RInference time=294 ms, Category=Non-PR2024.12 | 28.01 | 50.24 | 68.83 | — | — | |
| MASt3RPose Regression Category=Non-PR, Inference time=294 ms2025.12 | 28.01 | 50.24 | 68.83 | — | — | |
| SEEM + SGAM_ASpanBase Matcher=ASpan, Area Module=SGAM2024.01 | 27.5 | 48 | 65.3 | — | — | |
| MESA_ASpanBase Matcher=ASpan, Area Module=MESA2024.01 | 27.5 | 48.2 | 65 | — | — | |
| CasMTR2024.01 | 27.1 | 47 | 64.4 | — | — | |
| PATS2024.01 | 26 | 46.9 | 64.3 | — | — | |
| ASpanBase Matcher=ASpan2024.01 | 25.6 | 46 | 63.3 | — | — | |
| SEEM + SGAM_QuadTBase Matcher=QuadT, Area Module=SGAM2024.01 | 25.5 | 46 | 63.4 | — | — | |
| QuadTBase Matcher=QuadT2024.01 | 24.9 | 44.7 | 61.8 | — | — | |
| DUSt3RInference time=441 ms, Category=Non-PR2024.12 | 23.81 | 45.91 | 65.57 | — | — | |
| DUSt3RPose Regression Category=Non-PR, Inference time=441 ms2025.12 | 23.81 | 45.91 | 65.57 | — | — | |
| SEEM + SGAM_LOFTRBase Matcher=LOFTR, Area Module=SGAM2024.01 | 23.4 | 41.8 | 58.7 | — | — | |
| MESA_LOFTRBase Matcher=LOFTR, Area Module=MESA2024.01 | 22.9 | 41.8 | 59.4 | — | — | |
| LOFTRBase Matcher=LOFTR2024.01 | 22.1 | 40.8 | 57.6 | — | — | |
| SP+LGEstimator=Dense2025.06 | 21.8 | 39.6 | 55.6 | 3 | — | |
| Efficient LoFTRInference time=40 ms, Category=Non-PR2024.12 | 19.2 | 37 | 53.6 | — | — | |
| Efficient LoFTRPose Regression Category=Non-PR, Inference time=40 ms2025.12 | 19.2 | 37 | 53.6 | — | — | |
| SILK2024.01 | 18 | 34.4 | 50.4 | — | — | |
| SP + SGMNetBase Matcher=SuperPoint, Graph Neural Network=SGMNet2024.01 | 15.4 | 32.1 | 48.3 | — | — | |
| ExReNetTraining=SN, Inference time=17 ms, Category=PR2024.12 | 2.3 | 10.71 | 26.13 | — | — | |
| ExReNet (SN)Pose Regression Category=PR, Inference time=17 ms2025.12 | 2.3 | 10.71 | 26.13 | — | — | |
| Map-freeVariant=Regress-SN, Inference time=10 ms, Category=PR2024.12 | 1.84 | 8.75 | 25.33 | — | — | |
| Map-free (Regress-SN)Pose Regression Category=PR, Inference time=10 ms2025.12 | 1.84 | 8.75 | 25.33 | — | — | |
| ExReNetTraining=SUNCG, Inference time=17 ms, Category=PR2024.12 | 1.61 | 7 | 18.03 | — | — | |
| ExReNet (SUNCG)Pose Regression Category=PR, Inference time=17 ms2025.12 | 1.61 | 7 | 18.03 | — | — | |
| Map-freeVariant=Regress-MF, Inference time=10 ms, Category=PR2024.12 | 0.5 | 3.48 | 13.15 | — | — | |
| Map-free (Regress-MF)Pose Regression Category=PR, Inference time=10 ms2025.12 | 0.5 | 3.48 | 13.15 | — | — |