Relative Pose Estimation on ScanNet (AUC Threshold Evaluation)
16.1Pose AUC @ 10°MASt3R
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| MASt3R2026.04 | 16.1 | 27.3 | 32.5 | |
| ELoFTR2026.04 | 11.4 | 20.6 | 25.9 | |
| SP+SGFeature Backbone=SuperPoint, Association mechanism=SuperGlue2026.04 | 10.4 | 19.7 | 25 | |
| SP+LGFeature Backbone=SuperPoint, Association mechanism=LightGlue2026.04 | 10 | 18.7 | 23.6 | |
| OmniGlue2026.04 | 9.2 | 17 | 22 | |
| SP(K=1)/CMK=1, Association mechanism=CM, Feature Backbone=SuperPoint2026.04 | 7.2 | 14.2 | 18.7 | |
| SP+D3(K=5)/HCMK=5, Association mechanism=HCM, Feature Backbone=SuperPoint+DINOv32026.04 | 5.4 | 11.4 | 15.7 | |
| SP+D3(K=3)/HCMK=3, Association mechanism=HCM, Feature Backbone=SuperPoint+DINOv32026.04 | 5.1 | 11.3 | 16 | |
| SP+D2(K=3)/HCMK=3, Association mechanism=HCM, Feature Backbone=SuperPoint+DINOv22026.04 | 4.9 | 10.5 | 14.7 | |
| SP+D3(K=5)/MCMK=5, Association mechanism=MCM, Feature Backbone=SuperPoint+DINOv32026.04 | 4.9 | 10.5 | 14.5 | |
| SP+D2(K=5)/HCMK=5, Association mechanism=HCM, Feature Backbone=SuperPoint+DINOv22026.04 | 4.8 | 10.9 | 15.1 | |
| SP+D3(K=3)/MCMK=3, Association mechanism=MCM, Feature Backbone=SuperPoint+DINOv32026.04 | 4.5 | 10.3 | 14.5 | |
| SP+D2(K=5)/MCMK=5, Association mechanism=MCM, Feature Backbone=SuperPoint+DINOv22026.04 | 4.3 | 9.8 | 13.7 | |
| SP+D2(K=3)/MCMK=3, Association mechanism=MCM, Feature Backbone=SuperPoint+DINOv22026.04 | 4.2 | 9.2 | 13.2 | |
| SP+D3(K=1)/CMK=1, Association mechanism=CM, Feature Backbone=SuperPoint+DINOv32026.04 | 2.8 | 7.6 | 11.6 | |
| SIFT(K=1)/CMK=1, Association mechanism=CM, Feature Backbone=SIFT2026.04 | 2.7 | 6.2 | 8.8 | |
| SP+D2(K=1)/CMK=1, Association mechanism=CM, Feature Backbone=SuperPoint+DINOv22026.04 | 1.8 | 4.7 | 7.3 |