SLAM Efficiency Analysis on Waymo Avg. ≈200 frames
1.87Runtime (min)OnTheFly-NVS
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| OnTheFly-NVS2026.06 | 1.87 | 8.3 | 528 | 124 | |
| KiloGS-SLAM2026.06 | 4.52 | 8.6 | 180 | 37.3 | |
| GigaSLAMrestricted iterations=true2026.06 | 4.67 | 21.8 | 365 | 75.6 | |
| Vings-Mono2026.06 | 9.77 | 3.5 | 1.1 | 262 | |
| S3PO-GS2026.06 | 31.1 | 12.8 | 320 | 50.1 | |
| OpenGS-SLAM2026.06 | 33.6 | 15.2 | 306 | 48.6 | |
| Splat-SLAM2026.06 | 40.3 | 16.4 | 420 | 96.2 |