SLAM on KITTI
3.83Error K01COLMAP
Evaluation results
| Method | Links | |||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| COLMAPParadigm=Optimization-based2026.05 | 3.83 | 139.12 | 71.99 | 1.46 | 112.77 | 20.37 | 10.95 | 7.8 | 21.72 | 21.19 | 4.52 | — | — | — | — | — | 37.79 | |
| DPVOParadigm=Optimization-based2026.05 | 16.6 | 113.11 | 113.01 | 2.46 | 0.98 | 59.34 | 55.91 | 19.3 | 110.63 | 74.55 | 13.71 | — | — | — | — | — | 52.69 | |
| HorizonStreamParadigm=Online Fwd.2026.05 | 20.62 | 26.4 | 84.62 | 5.15 | 0.62 | 12.82 | 4.59 | 5.49 | 19.49 | 25.73 | 11.71 | — | — | — | — | — | 19.75 | |
| HorizonStream w/ LCParadigm=Online Fwd., Loop Closure (LC)=true2026.05 | 20.62 | 13.91 | 69.43 | 5.15 | 0.62 | 6.86 | 6.5 | 2.67 | 19.49 | 23.86 | 11.71 | — | — | — | — | — | 16.44 | |
| LoGeRParadigm=Offline Fwd.2026.05 | 36.57 | 54.98 | 36.2 | 4.27 | 1.62 | 33.41 | 11.78 | 13.33 | 22.92 | 17.89 | 8.06 | — | — | — | — | — | 21.91 | |
| LoGeR*Paradigm=Offline Fwd., config=optimization-based2026.05 | 41.26 | 26.19 | 32.21 | 5.02 | 1.62 | 22.65 | 5.49 | 5.04 | 21.96 | 9.03 | 9.44 | — | — | — | — | — | 16.35 | |
| LongStreamParadigm=Online Fwd.2026.05 | 46.01 | 92.55 | 134.7 | 3.81 | 1.95 | 84.69 | 23.12 | 14.93 | 62.07 | 85.61 | 21.48 | — | — | — | — | — | 51.9 | |
| VGGT-LongParadigm=Offline Fwd.2026.05 | 61.21 | 8.64 | 52.72 | 8.78 | 4.2 | 9.88 | 4.67 | 2.66 | 72.98 | 31.84 | 27.71 | — | — | — | — | — | 25.94 | |
| Lingbot-mapParadigm=Online Fwd.2026.05 | 64.74 | 30.8 | 82.29 | 2.49 | 0.85 | 16.55 | 6.27 | 8.92 | 39.32 | 17.99 | 7.96 | — | — | — | — | — | 25.29 | |
| DROID-SLAMParadigm=Optimization-based2026.05 | 82.81 | — | — | 3.2 | 1.47 | 73.5 | 61.1 | 18.41 | 104.22 | 89.49 | 22.19 | — | — | — | — | — | 50.71 | |
| CUT3R w/ refreshParadigm=Online Fwd., Refresh Strategy=refresh2026.05 | 90.59 | 190.38 | 264.39 | 20.4 | 7.31 | 92.25 | 67.54 | 22.48 | 145.08 | 67.42 | 40 | — | — | — | — | — | 91.62 | |
| PVO2022.07 | 91.19 | 5.69 | 23.6 | 0.855 | 0.808 | 8.41 | 13.57 | 8.89 | 6.67 | 14.65 | 8.66 | — | — | — | — | — | — | |
| DROID-SLAM2022.07 | 95.45 | 4.86 | 18.81 | 0.893 | 0.816 | 16.03 | 42.786 | 27.402 | 16.34 | 46.4 | 11.308 | — | — | — | — | — | — | |
| TTT3R w/ refreshParadigm=Online Fwd., Refresh Strategy=refresh2026.05 | 99.59 | 119.94 | 238.07 | 16.83 | 3.98 | 36.38 | 47.2 | 11.62 | 107.33 | 86.96 | 33.58 | — | — | — | — | — | 72.86 | |
| DynaSLAM2022.07 | 385.33 | 8.07 | 21.776 | 0.873 | 1.402 | 4.461 | 14.364 | 2.628 | 50.369 | 41.91 | 7.519 | — | — | — | — | — | — | |
| MASt3R-SfMParadigm=Optimization-based2026.05 | 463.52 | — | — | 15.8 | 41.44 | 150.39 | 136.14 | 71.69 | — | 176.36 | 69.5 | — | — | — | — | — | 140.6 | |
| MASt3R-SLAMParadigm=Optimization-based2026.05 | 530.37 | — | — | 18.87 | 88.98 | 159.43 | 92 | — | 263.75 | — | 153.07 | — | — | — | — | — | 186.64 | |
| InfiniteVGGTParadigm=Online Fwd.2026.05 | 533.36 | 167.17 | 272.99 | 149.18 | 58.86 | 127.5 | 100.54 | 78.77 | — | 199.25 | 138.04 | — | — | — | — | — | 183.85 | |
| TTT3R w/o refreshParadigm=Online Fwd., Refresh Strategy=no-refresh2026.05 | 546.84 | 190.93 | 218.77 | 105.28 | 11.62 | 153.12 | 132.94 | 70.95 | 180.57 | 211.01 | 133 | — | — | — | — | — | 177.73 | |
| VGGT-SLAMParadigm=Optimization-based2026.05 | 607.16 | — | — | 169.83 | 13.12 | — | — | — | — | — | 211.82 | — | — | — | — | — | 250.48 | |
| LoGeR w/o refreshParadigm=Offline Fwd., Refresh Strategy=no-refresh2026.05 | 631.14 | 166.05 | 226.65 | 66.09 | 4.55 | 125.16 | 98.32 | 12.38 | 203.24 | 127.28 | 185.19 | — | — | — | — | — | 167.82 | |
| CUT3R w/o refreshParadigm=Online Fwd., Refresh Strategy=no-refresh2026.05 | 651.52 | 185.89 | 296.98 | 148.06 | 22.17 | 155.61 | 132.54 | 77.03 | 238.39 | 205.94 | 193.39 | — | — | — | — | — | 209.78 | |
| StreamVGGTParadigm=Online Fwd.2026.05 | 653.06 | 191.93 | 303.35 | 157.5 | 108.24 | 160.46 | 133.71 | 89 | 263.95 | 216.69 | 209.8 | — | — | — | — | — | 226.15 | |
| STream3RParadigm=Online Fwd.2026.05 | 681.95 | 190.98 | 301.4 | 158.25 | 102.73 | 159.85 | 135.03 | 90.37 | 261.15 | 216.31 | 207.49 | — | — | — | — | — | 227.77 | |
| FastVGGTParadigm=Offline Fwd.2026.05 | 705.39 | — | — | 62.38 | 10.27 | 157.74 | 124.43 | 69.27 | — | 190.1 | 194.75 | — | — | — | — | — | 189.29 | |
| DBoW22026.03 | — | — | — | — | — | — | — | — | — | — | — | 8.14 | 5.063 | 1.458 | 1.449 | — | — | |
| HBRB-BoW2026.03 | — | — | — | — | — | — | — | — | — | — | — | 5.631 | 4.539 | 1.251 | 1.361 | 250.9 | — |