Tracking on ScanNet (Sequence ATE RMSE)
4.2ATE RMSE (Seq 00)Loopy-SLAM
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Loopy-SLAMUC (Uncertainty)=false2026.03 | 4.2 | 7.5 | 8.3 | 7.5 | 10.6 | 7.9 | 7.7 | |
| VarSplatUC (Uncertainty)=true2026.03 | 4.9 | 5.8 | 6.7 | 6.7 | 8.9 | 6.2 | 6.5 | |
| GO-SLAMUC (Uncertainty)=false2026.03 | 5.4 | 7.5 | 7 | 7 | 6.8 | 6.9 | 6.8 | |
| Uni-SLAMUC (Uncertainty)=true2026.03 | 6.1 | 7.8 | 7.4 | 5.8 | 9.8 | 5.2 | 7 | |
| LoopSplatUC (Uncertainty)=false2026.03 | 6.2 | 7.1 | 7.4 | 10.6 | 8.5 | 6.6 | 7.7 | |
| Co-SLAMUC (Uncertainty)=false2026.03 | 7.1 | 11.1 | 9.4 | 5.9 | 11.8 | 7.1 | 8.7 | |
| CG-SLAMUC (Uncertainty)=true2026.03 | 7.1 | 7.5 | 8.9 | 8.2 | 11.6 | 5.3 | 8.1 | |
| ESLAMUC (Uncertainty)=false2026.03 | 7.3 | 8.5 | 7.5 | 6.5 | 9 | 5.7 | 7.4 | |
| Co-SLAMMethod Category=NeRF-Based Methods2024.03 | 7.35 | 11.45 | 9.68 | 6.03 | 11.93 | 8.86 | 8.72 | |
| ESLAMMethod Category=NeRF-Based Methods2024.03 | 7.84 | 9.24 | 7.82 | 6.78 | 9.35 | 5.88 | 7.82 | |
| MonoGSUC (Uncertainty)=false2026.03 | 9.8 | 32.1 | 8.9 | 10.7 | 21.8 | 7.9 | 15.2 | |
| SplaTAMUC (Uncertainty)=false2026.03 | 10.1 | 17.7 | 11.7 | 7.5 | 5.6 | 7.5 | 10 | |
| Point-SLAMUC (Uncertainty)=false2026.03 | 10.2 | 10.8 | 8.7 | 7.2 | 22.2 | 14.8 | 12.3 | |
| Point-SLAM2026.03 | 10.24 | 7.81 | 8.65 | 22.16 | 14.77 | 9.54 | 12.19 | |
| Point-SLAMMethod Category=NeRF-Based Methods2024.03 | 10.24 | 7.81 | 8.65 | 22.16 | 14.77 | 9.54 | 12.19 | |
| Point-SLAM2026.06 | 10.24 | 7.81 | 8.65 | 22.16 | 14.77 | 9.54 | 12.19 | |
| VCGS-SLAMMethod Category=3DGS-Based Methods, Platform=Standard/Desktop2024.03 | 10.81 | 9.01 | 15.57 | 10.83 | 10.73 | 6.41 | 10.57 | |
| VCS-SLAM2026.06 | 10.85 | 12.36 | 9.23 | 10.51 | 9.75 | 8.62 | 10.22 | |
| MonoGSMethod Category=3DGS-Based Methods2024.03 | 10.89 | 19.1 | 11.72 | 10.01 | 19.1 | 7.96 | 10.81 | |
| VCGS-SLAMMethod Category=3DGS-Based Methods, Platform=Laptop2024.03 | 11.31 | 9.05 | 15.98 | 11.01 | 10.85 | 6.54 | 10.79 | |
| GS3LAM2026.03 | 11.34 | 10.78 | 17 | 11.35 | 10.57 | 6.39 | 11.24 | |
| Hier-SLAM2026.06 | 11.45 | 9.61 | 17.8 | 11.93 | 10.04 | 7.32 | 11.36 | |
| VCGS-SLAMMethod Category=3DGS-Based Methods, Platform=Jetson2024.03 | 11.74 | 9.36 | 16.87 | 11.43 | 10.98 | 6.78 | 10.84 | |
| SemGauss-SLAM2026.06 | 11.87 | 7.97 | — | 8.7 | 9.78 | 8.97 | — | |
| NICE-SLAMUC (Uncertainty)=false2026.03 | 12 | 14 | 7.9 | 10.9 | 13.4 | 6.2 | 10.7 | |
| NICE-SLAM2026.03 | 12 | 14 | 7.9 | 10.9 | 13.4 | 6.2 | 10.7 | |
| NICE-SLAMMethod Category=NeRF-Based Methods2024.03 | 12 | 14 | 7.9 | 10.9 | 13.4 | 6.2 | 10.88 | |
| NICE-SLAM2026.06 | 12 | 14 | 7.9 | 10.9 | 13.4 | 6.2 | 10.7 | |
| SplaTAM2026.03 | 12.83 | 10.1 | 17.72 | 12.08 | 11.1 | 7.46 | 11.88 | |
| SplaTAMMethod Category=3DGS-Based Methods2024.03 | 12.83 | 10.1 | 17.72 | 12.08 | 11.1 | 7.46 | 11.88 | |
| SplaTAM2026.06 | 12.83 | 10.1 | 17.72 | 12.08 | 11.1 | 7.46 | 11.88 | |
| Gaussian-SLAMMethod Category=3DGS-Based Methods2024.03 | 13.53 | 11.36 | 16.47 | 11.78 | 11.43 | 7.34 | 11.97 | |
| Gaussian-SLAMUC (Uncertainty)=false2026.03 | 21.2 | 12.8 | 13.5 | 13.6 | 21 | 13.4 | 15.9 | |
| Vox-Fusion2026.03 | 68.84 | 24.18 | 8.41 | 27.28 | 23.3 | 9.41 | 26.9 | |
| Vox-FusionMethod Category=NeRF-Based Methods2024.03 | 68.84 | 24.18 | 8.41 | 27.28 | 23.3 | 9.41 | 26.9 | |
| Vox-Fusion2026.06 | 68.84 | 24.18 | 8.41 | 27.28 | 23.3 | 9.41 | 26.9 |