SLAM on KITTI

3.83Error K01COLMAP

Evaluation Results

Method
COLMAP2026.05	3.83	139.12	71.99	1.46	112.77	20.37	10.95	7.8	21.72	21.19	4.52	—	—	—	—	—	37.79
DPVO2026.05	16.6	113.11	113.01	2.46	0.98	59.34	55.91	19.3	110.63	74.55	13.71	—	—	—	—	—	52.69
HorizonStream2026.05	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/ LC2026.05	20.62	13.91	69.43	5.15	0.62	6.86	6.5	2.67	19.49	23.86	11.71	—	—	—	—	—	16.44
LoGeR2026.05	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*2026.05	41.26	26.19	32.21	5.02	1.62	22.65	5.49	5.04	21.96	9.03	9.44	—	—	—	—	—	16.35
LongStream2026.05	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-Long2026.05	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-map2026.05	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-SLAM2026.05	82.81	—	—	3.2	1.47	73.5	61.1	18.41	104.22	89.49	22.19	—	—	—	—	—	50.71
CUT3R w/ 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/ 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-SfM2026.05	463.52	—	—	15.8	41.44	150.39	136.14	71.69	—	176.36	69.5	—	—	—	—	—	140.6
MASt3R-SLAM2026.05	530.37	—	—	18.87	88.98	159.43	92	—	263.75	—	153.07	—	—	—	—	—	186.64
InfiniteVGGT2026.05	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 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-SLAM2026.05	607.16	—	—	169.83	13.12	—	—	—	—	—	211.82	—	—	—	—	—	250.48
LoGeR w/o 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 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
StreamVGGT2026.05	653.06	191.93	303.35	157.5	108.24	160.46	133.71	89	263.95	216.69	209.8	—	—	—	—	—	226.15
STream3R2026.05	681.95	190.98	301.4	158.25	102.73	159.85	135.03	90.37	261.15	216.31	207.49	—	—	—	—	—	227.77
FastVGGT2026.05	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	—