Tracking and Mapping on 7Scenes
0.018ATE (chess)Mono-Hydra++
Evaluation results
| Method | Links | |||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Mono-Hydra++Protocol=Calib., Weights=ScanNet wts2026.05 | 0.018 | — | — | — | — | 0.019 | 0.031 | 0.034 | 0.024 | 0.037 | 0.071 | 0.033 | — | — | — | — | — | |
| NICER-SLAM3Uncalibrated=false2026.04 | 0.033 | — | — | — | — | 0.069 | 0.042 | 0.108 | 0.2 | 0.039 | 0.108 | 0.086 | — | — | — | — | — | |
| NICER-SLAMProtocol=Calib.2026.05 | 0.033 | — | — | — | — | 0.069 | 0.042 | 0.108 | 0.2 | 0.039 | 0.108 | 0.086 | — | — | — | — | — | |
| VGGT-SLAM++Uncalibrated=true2026.04 | 0.034 | — | — | — | — | 0.023 | 0.017 | 0.104 | 0.127 | 0.085 | 0.06 | 0.064 | — | — | — | — | — | |
| DROID-SLAMUncalibrated=false2026.04 | 0.036 | — | — | — | — | 0.027 | 0.025 | 0.066 | 0.127 | 0.04 | 0.026 | 0.05 | — | — | — | — | — | |
| VGGT-SLAM (SL4)Uncalibrated=true2026.04 | 0.036 | — | — | — | — | 0.028 | 0.018 | 0.103 | 0.133 | 0.058 | 0.093 | 0.067 | — | — | — | — | — | |
| VGGT-SLAMProtocol=Uncalib., Transformation=SL(4), w=322026.05 | 0.036 | — | — | — | — | 0.028 | 0.018 | 0.103 | 0.133 | 0.058 | 0.093 | 0.067 | — | — | — | — | — | |
| DROID-SLAMProtocol=Calib.2026.05 | 0.036 | — | — | — | — | 0.027 | 0.025 | 0.066 | 0.127 | 0.04 | 0.026 | 0.049 | — | — | — | — | — | |
| VGGT-SLAM (Sim3)Uncalibrated=true2026.04 | 0.037 | — | — | — | — | 0.026 | 0.018 | 0.104 | 0.133 | 0.061 | 0.093 | 0.067 | — | — | — | — | — | |
| VGGT-SLAMProtocol=Uncalib., Transformation=Sim(3), w=322026.05 | 0.037 | — | — | — | — | 0.026 | 0.018 | 0.104 | 0.133 | 0.061 | 0.093 | 0.067 | — | — | — | — | — | |
| DROID-SLAM*Uncalibrated=true2026.04 | 0.047 | — | — | — | — | 0.038 | 0.034 | 0.136 | 0.166 | 0.08 | 0.044 | 0.078 | — | — | — | — | — | |
| DROID-SLAMProtocol=Uncalib.2026.05 | 0.047 | — | — | — | — | 0.038 | 0.034 | 0.136 | 0.166 | 0.08 | 0.044 | 0.078 | — | — | — | — | — | |
| MASt3R-SLAMUncalibrated=false2026.04 | 0.053 | — | — | — | — | 0.025 | 0.015 | 0.097 | 0.088 | 0.041 | 0.011 | 0.047 | — | — | — | — | — | |
| MASt3R-SLAMProtocol=Calib.2026.05 | 0.053 | — | — | — | — | 0.025 | 0.015 | 0.097 | 0.088 | 0.041 | 0.011 | 0.047 | — | — | — | — | — | |
| MASt3R-SLAM*Uncalibrated=true2026.04 | 0.063 | — | — | — | — | 0.046 | 0.029 | 0.103 | 0.114 | 0.074 | 0.032 | 0.066 | — | — | — | — | — | |
| MASt3R-SLAMProtocol=Uncalib.2026.05 | 0.063 | — | — | — | — | 0.046 | 0.029 | 0.103 | 0.114 | 0.074 | 0.032 | 0.066 | — | — | — | — | — | |
| DROID-SLAMMetric scale at runtime=false, Alignment Protocol=Sim(3)2026.05 | 1.8 | — | — | — | — | 2.1 | 1.3 | 2.7 | 3.4 | — | 12.5 | — | — | — | — | — | 4.2 | |
| ORB-SLAM3Metric scale at runtime=false, Alignment Protocol=Sim(3)2026.05 | 2.1 | — | — | — | — | 2.4 | 1.2 | 3.5 | 4.8 | — | 8.9 | — | — | — | — | — | 5.1 | |
| MonoGSMetric scale at runtime=false, Alignment Protocol=Sim(3)2026.05 | 2.5 | — | — | — | — | 2.8 | 1.4 | 4.1 | 4.5 | — | 35.7 | — | — | — | — | — | 4.8 | |
| VGGT-SLAMMetric scale at runtime=false, Alignment Protocol=Sim(3)2026.05 | 4.1 | — | — | — | — | 3.9 | 2.8 | 5.5 | 7.2 | — | 15.2 | — | — | — | — | — | 8.4 | |
| PRISM-SLAMMetric scale at runtime=true, Alignment Protocol=Sim(3)2026.05 | 7.1 | — | — | — | — | 10.8 | 8.8 | 11.7 | 7.9 | — | 11.5 | — | — | — | — | — | 3.6 | |
| PRISM-SLAMMetric scale at runtime=true, Alignment Protocol=SE(3)2026.05 | 7.1 | — | — | — | — | 17.7 | 68.4 | 15.5 | 7.9 | — | 11.9 | — | — | — | — | — | 12.1 | |
| DPV-SLAMDownsample=2×2026.04 | — | 5.4 | — | — | — | — | — | — | — | — | — | — | 38.44 | — | — | — | — | |
| DROID-SLAM2025.12 | — | 0.049 | 5.2 | 7.6 | 0.064 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DROID-SLAMDownsample=2×2026.04 | — | 4.9 | — | — | — | — | — | — | — | — | — | — | 41.29 | — | — | — | — | |
| FoundationSLAM2025.12 | — | 0.043 | 3.9 | 5.5 | 0.047 | — | — | — | — | — | — | — | — | — | — | — | — | |
| LeanGateDownsample=32.26×2026.04 | — | 4.61 | — | — | — | — | — | — | — | — | — | — | 12.64 | 318.75 | 174.41 | 493.16 | — | |
| MASt3R-SLAM2025.12 | — | 0.047 | 7.4 | 5.7 | 0.066 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MASt3R-SLAMDownsample=2×2026.04 | — | 4.71 | — | — | — | — | — | — | — | — | — | — | 66.46 | — | 4,978.32 | 4,978.32 | — | |
| VGGT-SLAMuncalibrated images=true2025.12 | — | 0.067 | 5.2 | 5.8 | 0.055 | — | — | — | — | — | — | — | — | — | — | — | — |