SLAM on NeuralRGB-D Practical Scenario synthetic
2.11Acc (cm)Fact.
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Fact.Geometric Function (G)=SDF(density), Representation (F)=Fact.2024.03 | 2.11 | 4.45 | 84.01 | 2.01 | 24.63 | 4.41 | |
| Tri.Geometric Function (G)=SDF(density), Representation (F)=Tri.2024.03 | 2.12 | 4.62 | 83.9 | 1.9 | 24.62 | 4.42 | |
| Tri.Geometric Function (G)=SDF(direct), Representation (F)=Tri.2024.03 | 2.29 | 4.42 | 84.01 | 1.89 | 24.67 | 1.85 | |
| HybridGeometric Function (G)=SDF(density), Representation (F)=Hybrid2024.03 | 2.34 | 4.71 | 83.25 | 1.91 | 25.05 | 4.4 | |
| HybridGeometric Function (G)=SDF(direct), Representation (F)=Hybrid2024.03 | 2.4 | 4.64 | 83.48 | 1.86 | 25.25 | 1.68 | |
| Explicit Hybrid EncodingRes×Dim=2×22024.03 | 2.4 | 4.64 | — | 1.86 | — | 1.68 | |
| Fact.Geometric Function (G)=SDF(direct), Representation (F)=Fact.2024.03 | 2.62 | 4.47 | 83.54 | 1.94 | 24.69 | 1.87 | |
| DenseGeometric Function (G)=SDF(direct), Representation (F)=Dense2024.03 | 2.69 | 4.69 | 83.45 | 1.96 | 25.15 | 1.7 | |
| DenseGeometric Function (G)=SDF(density), Representation (F)=Dense2024.03 | 2.7 | 4.72 | 83.27 | 1.87 | 25.04 | 4.4 | |
| SparseGeometric Function (G)=SDF(direct), Representation (F)=Sparse2024.03 | 2.84 | 4.81 | 82.64 | 2.12 | 25.23 | 1.84 | |
| SparseGeometric Function (G)=SDF(density), Representation (F)=Sparse2024.03 | 2.84 | 4.71 | 82.79 | 1.96 | 25.08 | 4.46 | |
| CO-SLAMRes×Dim=16×22024.03 | 2.95 | 2.96 | — | — | — | 3.02 | |
| MLPGeometric Function (G)=SDF(density), Representation (F)=MLP2024.03 | 3.98 | 5.12 | 78.82 | 3.87 | 22.56 | 4.8 | |
| MLPGeometric Function (G)=SDF(direct), Representation (F)=MLP2024.03 | 4.37 | 5.16 | 79.22 | 3.69 | 22.56 | 3.56 |