SLAM Tracking on TUM RGB-D (fr1 desk, fr2 xyz, fr3 office)
1.52ATE RMSE (fr1/desk)MonoGS
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| MonoGS2026.06 | 1.52 | 1.58 | 1.65 | 1.58 | |
| MMD-SLAM2026.06 | 1.55 | 0.61 | 1.12 | 1.09 | |
| RTG-SLAM2026.06 | 1.62 | 0.39 | 1.14 | 1.06 | |
| GS-ICP SLAM2026.06 | 3.12 | 1.94 | 3.21 | 2.76 | |
| SplaTAM2026.06 | 3.34 | 1.34 | 5.21 | 3.3 |