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ResearchFormerly WizWand

Scene Reconstruction on Replica (Scene-wise Depth and F1)

0.53Average Depth ErrorPoint-SLAM

Evaluation results

Method	Links
Point-SLAM2024.03		0.53	0.22	0.46	0.3	0.57	0.49	0.51	0.46	0.44	89.5	86.4	92	90.5	91.4	89.6	89.5	88.6	85.9
Gaussian-SLAM+Ours2024.03		0.66	0.6	0.26	0.52	0.44	0.5	0.92	1.6	0.4	89.6	89.9	91.1	91.2	92.1	91.1	88.1	85.2	87.9
Gaussian-SLAM2024.03		0.68	0.61	0.25	0.54	0.48	0.51	0.97	1.63	0.42	89.1	89.5	89.7	90.9	92.1	90.5	87.8	84.7	87.6
SplaTAM+Ours2024.03		0.7	0.42	0.37	0.53	0.44	0.64	1.02	1.57	0.66	86.9	89.8	88.9	88.9	92	90.8	85.3	78.4	81.3
MonoGS+Ours2024.03		0.7	0.44	0.38	0.53	0.43	0.7	1.05	1.61	0.68	87.1	89.3	88.9	89.1	91.3	89.5	85.8	78.5	81.8
SplaTAM2024.03		0.72	0.43	0.38	0.54	0.44	0.66	1.05	1.6	0.68	86.3	89.5	88.5	88.4	91.8	89.8	84.8	77.9	80.8
MonoGS2024.03		0.73	0.45	0.39	0.52	0.43	0.69	1.08	1.63	0.69	86.6	89.1	88.7	89.1	91.5	89.4	85.5	78.3	81.5
ESLAM2024.03		1.18	0.97	1.07	1.28	0.86	1.26	1.71	1.43	1.06	79.1	81.4	82.3	83.5	78.7	75.4	77.2	75.3	79
Co-SLAM2024.03		1.51	1.05	0.85	2.37	1.24	1.48	1.86	1.66	1.54	77.9	79.8	81.4	82.3	77.3	74.7	75.9	74.1	77.8
Vox-Fusion2024.03		2.49	1.13	1.94	2.12	2.3	3.34	4.08	2.92	1.57	52.9	70.5	35.3	60.4	50.5	52.5	40.5	40.3	36.2
GO-SLAM2024.03		2.56	1.57	2.43	1.47	1.63	2.31	1.71	1.47	4.68	70.9	72.8	74.4	75.1	71.8	68.7	69.3	68.3	70.2
NICE-SLAM2024.03		2.99	1.83	1.46	2.03	1.36	1.74	8.31	4.95	2.03	44.5	45.5	44.6	43.9	50.5	52.5	40.5	40.3	36.2