Rendering Performance on TUM-RGBD (fr3 sequences evaluation)
26.34Quality Score (fr3/sit_xyz)RU4D-SLAM
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| RU4D-SLAMMetric=PSNR2026.02 | 26.34 | — | — | — | 26.07 | 23.94 | 25.95 | 29.65 | 25.3 | 24.38 | |
| 4DGS SLAMMetric=PSNR2026.02 | 24.37 | — | — | — | 22.99 | 19.83 | 22.46 | 27.68 | 20.71 | 19.22 | |
| MonoGSMetric=PSNR2026.02 | 23.92 | — | — | — | 16.47 | 14.02 | 17.74 | 19.95 | 16.99 | 15.12 | |
| D2GSLAMMetric=PSNR[dB]2025.12 | 23.14 | — | — | — | 22.42 | 22.19 | 24.09 | — | — | — | |
| SplaTAM*Metric=PSNR[dB], Reproduced from official code=true2025.12 | 22.13 | — | — | — | 19.09 | 16.82 | 18.57 | — | — | — | |
| SplaTAMMetric=PSNR2026.02 | 22.07 | — | — | — | 16.7 | 17.03 | 19.4 | 24.12 | 19.97 | 16.54 | |
| SC-GSMetric=PSNR2026.02 | 21.45 | — | — | — | 20.99 | 19.89 | 20.78 | 27.01 | 18.93 | 16.44 | |
| GS-ICP SLAM*Metric=PSNR[dB], Reproduced from official code=true2025.12 | 21.41 | — | — | — | 18.21 | 17.31 | 17.59 | — | — | — | |
| MonoGS*Metric=PSNR[dB], Reproduced from official code=true2025.12 | 20.68 | — | — | — | 14.24 | 13.67 | 16.77 | — | — | — | |
| Gaussian-SLAMMetric=PSNR2026.02 | 19.22 | — | — | — | 14.91 | 14.67 | 16.43 | 18.57 | 16.75 | 14.5 | |
| RU4D-SLAMMetric=SSIM2026.02 | 0.89 | — | — | — | 0.875 | 0.829 | 0.864 | 0.931 | 0.844 | 0.813 | |
| D2GSLAMMetric=SSIM2025.12 | 0.885 | — | — | — | 0.811 | 0.806 | 0.845 | — | — | — | |
| SplaTAM*Metric=SSIM, Reproduced from official code=true2025.12 | 0.88 | — | — | — | 0.717 | 0.64 | 0.721 | — | — | — | |
| SplaTAMMetric=SSIM2026.02 | 0.879 | — | — | — | 0.688 | 0.65 | 0.757 | 0.915 | 0.799 | 0.635 | |
| 4DGS SLAMMetric=SSIM2026.02 | 0.822 | — | — | — | 0.82 | 0.73 | 0.786 | 0.892 | 0.746 | 0.708 | |
| MonoGSMetric=SSIM2026.02 | 0.803 | — | — | — | 0.604 | 0.436 | 0.608 | 0.739 | 0.572 | 0.497 | |
| Gaussian-SLAMMetric=SSIM2026.02 | 0.796 | — | — | — | 0.607 | 0.483 | 0.642 | 0.848 | 0.652 | 0.467 | |
| GS-ICP SLAM*Metric=SSIM, Reproduced from official code=true2025.12 | 0.78 | — | — | — | 0.721 | 0.706 | 0.731 | — | — | — | |
| MonoGS*Metric=SSIM, Reproduced from official code=true2025.12 | 0.744 | — | — | — | 0.521 | 0.422 | 0.627 | — | — | — | |
| SC-GSMetric=SSIM2026.02 | 0.686 | — | — | — | 0.762 | 0.59 | 0.657 | 0.9 | 0.529 | 0.475 | |
| SC-GSMetric=LPIPS2026.02 | 0.369 | — | — | — | 0.291 | 0.47 | 0.396 | 0.182 | 0.512 | 0.554 | |
| Gaussian-SLAMMetric=LPIPS2026.02 | 0.326 | — | — | — | 0.489 | 0.626 | 0.48 | 0.291 | 0.521 | 0.63 | |
| MonoGS*Metric=LPIPS, Reproduced from official code=true2025.12 | 0.229 | — | — | — | 0.414 | 0.544 | 0.463 | — | — | — | |
| GS-ICP SLAM*Metric=LPIPS, Reproduced from official code=true2025.12 | 0.192 | — | — | — | 0.32 | 0.35 | 0.307 | — | — | — | |
| MonoGSMetric=LPIPS2026.02 | 0.182 | — | — | — | 0.355 | 0.581 | 0.382 | 0.213 | 0.405 | 0.56 | |
| 4DGS SLAMMetric=LPIPS2026.02 | 0.179 | — | — | — | 0.195 | 0.281 | 0.228 | 0.116 | 0.265 | 0.337 | |
| SplaTAMMetric=LPIPS2026.02 | 0.163 | — | — | — | 0.287 | 0.339 | 0.241 | 0.101 | 0.205 | 0.353 | |
| SplaTAM*Metric=LPIPS, Reproduced from official code=true2025.12 | 0.158 | — | — | — | 0.261 | 0.348 | 0.269 | — | — | — | |
| D2GSLAMMetric=LPIPS2025.12 | 0.15 | — | — | — | 0.194 | 0.205 | 0.169 | — | — | — | |
| RU4D-SLAMMetric=LPIPS2026.02 | 0.09 | — | — | — | 0.097 | 0.143 | 0.119 | 0.055 | 0.141 | 0.186 |