Tracking on TUM RGB-D 44 (various sequences)
1.36Average ErrorDROID-W
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DROID-WModality=RGB-only2026.03 | 1.36 | 1.1 | 0.5 | 0.8 | 2.1 | 1.4 | 0.5 | 1.2 | 3.1 | 1.6 | — | — | — | — | — | |
| UP-SLAM2025.05 | 1.42 | — | — | — | — | — | — | — | — | — | 1.6 | 2.6 | 0.7 | 0.9 | 1.3 | |
| WildGS-SLAMInput Modality=Monocular2025.04 | 1.51 | 1.4 | 0.5 | 0.8 | 2.4 | 2 | 0.4 | 1.3 | 3.3 | 1.6 | — | — | — | — | — | |
| WildGS-SLAMModality=RGB-only2026.03 | 1.51 | 1.4 | 0.5 | 0.8 | 2.4 | 2 | 0.4 | 1.3 | 3.3 | 1.6 | — | — | — | — | — | |
| DynaSLAM2025.05 | 1.52 | — | — | — | — | — | — | — | — | — | 1.5 | 2.9 | 0.7 | 1.6 | 0.9 | |
| DROID-SLAMInput Modality=Monocular2025.04 | 1.62 | 0.6 | 0.5 | 0.9 | 2.2 | 1.4 | 1.2 | 1.6 | 4 | 2.2 | — | — | — | — | — | |
| DROID-SLAMModality=RGB-only2026.03 | 1.62 | 0.6 | 0.5 | 0.9 | 2.2 | 1.4 | 1.2 | 1.6 | 4 | 2.2 | — | — | — | — | — | |
| DynaMoN (MS)Input Modality=Monocular2025.04 | 1.63 | 0.6 | 0.5 | 0.9 | 2.1 | 1.9 | 1.4 | 1.4 | 3.9 | 2 | — | — | — | — | — | |
| DynaMoN (MS&SS)Input Modality=Monocular2025.04 | 1.63 | 0.7 | 0.5 | 0.9 | 2.4 | 2.3 | 0.7 | 1.4 | 3.9 | 1.9 | — | — | — | — | — | |
| DynaMoN (MS)Modality=RGB-only, Scale settings=MS2026.03 | 1.63 | 0.6 | 0.5 | 0.9 | 2.1 | 1.9 | 1.4 | 1.4 | 3.9 | 2 | — | — | — | — | — | |
| DynaMoN (MS&SS)Modality=RGB-only, Scale settings=MS&SS2026.03 | 1.63 | 0.7 | 0.5 | 0.9 | 2.4 | 2.3 | 0.7 | 1.4 | 3.9 | 1.9 | — | — | — | — | — | |
| DG-SLAM2025.05 | 1.68 | — | — | — | — | — | — | — | — | — | 1.7 | 1.8 | 0.7 | 1 | 3.2 | |
| DynaSLAM (N+G)Modality=RGB-D2026.03 | 1.69 | 0.7 | 0.5 | 1.5 | 2.7 | 1.7 | 0.6 | 1.5 | 3.5 | 2.5 | — | — | — | — | — | |
| DynaSLAM (N+G)Input Modality=RGB-D2025.04 | 1.7 | 0.7 | 0.5 | 1.5 | 2.7 | 1.7 | 0.6 | 1.5 | 3.5 | 2.5 | — | — | — | — | — | |
| Splat-SLAMInput Modality=Monocular2025.04 | 1.71 | 0.7 | 0.5 | 0.9 | 2.3 | 1.5 | 2.3 | 1.3 | 3.9 | 2.2 | — | — | — | — | — | |
| Splat-SLAMModality=RGB-only2026.03 | 1.71 | 0.7 | 0.5 | 0.9 | 2.3 | 1.5 | 2.3 | 1.3 | 3.9 | 2.2 | — | — | — | — | — | |
| GassiDy2025.05 | 2.6 | — | — | — | — | — | — | — | — | — | 3.5 | 3.7 | 0.6 | — | — | |
| EM-Fusion2025.05 | 4.2 | — | — | — | — | — | — | — | — | — | 6.6 | 5.1 | 1.4 | 3.7 | — | |
| RoDyn-SLAM2025.05 | 5.26 | — | — | — | — | — | — | — | — | — | 8.3 | 5.6 | 1.7 | 5.1 | 5.6 | |
| ReFusion2025.05 | 6.5 | — | — | — | — | — | — | — | — | — | 9.9 | 10.4 | 1.7 | 4 | — | |
| RefusionInput Modality=RGB-D2025.04 | 10.73 | 4.9 | 0.9 | 4 | 13.2 | 11 | 1.7 | 9.9 | 40.6 | 10.4 | — | — | — | — | — | |
| ReFusionModality=RGB-D2026.03 | 10.73 | 4.9 | 0.9 | 4 | 13.2 | 11 | 1.7 | 9.9 | 40.6 | 10.4 | — | — | — | — | — | |
| DSOInput Modality=Monocular2025.04 | 11.1 | 2.2 | 1.7 | 11.5 | 3.7 | 12.4 | 1.5 | 12.9 | 13.8 | 40.7 | — | — | — | — | — | |
| DSOModality=RGB-only2026.03 | 11.15 | 2.2 | 1.7 | 11.5 | 3.7 | 12.4 | 1.5 | 12.9 | 13.8 | 40.7 | — | — | — | — | — | |
| ORB-SLAM32025.05 | 12.62 | — | — | — | — | — | — | — | — | — | 28.1 | 30.5 | 2 | 1 | 1.5 | |
| MonST3RModality=RGB-only2026.03 | 19.45 | 33.9 | 0.8 | 28.3 | 5.1 | 36.8 | 1.6 | 19.1 | 16.6 | 32.8 | — | — | — | — | — | |
| MonST3R-SWInput Modality=Monocular2025.04 | 20.8 | 51.6 | 2.4 | 28.2 | 5.4 | 36.5 | 2.2 | 27.3 | 13.6 | 19.8 | — | — | — | — | — | |
| Photo-SLAM2025.05 | 22.28 | — | — | — | — | — | — | — | — | — | 60.4 | 35.7 | 13.7 | 1 | 0.6 | |
| GS-SLAM2025.05 | 23.38 | — | — | — | — | — | — | — | — | — | 37.2 | 60 | 8.4 | 2.7 | 8.6 | |
| TTT3RModality=RGB-only2026.03 | 24.33 | 113.1 | 3.1 | 5.8 | 6.4 | 24.9 | 2 | 24.7 | 15.9 | 23.1 | — | — | — | — | — | |
| MonoGSInput Modality=Monocular2025.04 | 26.4 | 112.8 | 1.2 | 6.1 | 5.1 | 28.3 | 1.1 | 21.5 | 17.4 | 44.2 | — | — | — | — | — | |
| ORB-SLAM2Modality=RGB-D2026.03 | 30.36 | 0.6 | 0.8 | 1 | 2.5 | 2.5 | 40.8 | 72.2 | 80.5 | 72.3 | — | — | — | — | — | |
| ORB-SLAM2Input Modality=RGB-D2025.04 | 30.4 | 0.6 | 0.8 | 1 | 2.5 | 2.5 | 40.8 | 72.2 | 80.5 | 72.3 | — | — | — | — | — | |
| Co-SLAM2025.05 | 44 | — | — | — | — | — | — | — | — | — | 51.8 | 105.1 | 49.5 | 6 | 7.6 | |
| ESLAM2025.05 | 51.92 | — | — | — | — | — | — | — | — | — | 45.7 | 60.8 | 93.6 | 7.6 | — | |
| NICE-SLAM2025.05 | 69.96 | — | — | — | — | — | — | — | — | — | 113.8 | — | 88.2 | 7.9 | — | |
| SplaTAM2025.05 | 78.3 | — | — | — | — | — | — | — | — | — | 140.6 | 153.58 | 90.36 | 1.6 | 5.4 | |
| NICE-SLAMInput Modality=RGB-D2025.04 | 83.6 | 88.8 | 1.6 | 32 | 59.1 | 8.6 | 79.8 | 86.5 | 244 | 152 | — | — | — | — | — | |
| NICE-SLAMModality=RGB-D2026.03 | 83.6 | 88.8 | 1.6 | 32 | 59.1 | 8.6 | 79.8 | 86.5 | 244 | 152 | — | — | — | — | — | |
| Vox-Fusion2025.05 | 86.76 | — | — | — | — | — | — | — | — | — | 146.6 | — | 109.9 | 3.8 | — | |
| iMap2025.05 | 97.85 | — | — | — | — | — | — | — | — | — | 111.5 | — | 137.3 | 23.6 | 119 | |
| ADD-SLAMModality=RGB-D2026.03 | — | — | — | — | — | 1.3 | 0.5 | 1.4 | — | 1.6 | — | — | — | — | — | |
| DDN-SLAM (RGB-D)Input Modality=RGB-D2025.04 | — | — | — | 1 | — | 1.7 | 1 | 1.4 | 3.9 | 2.3 | — | — | — | — | — | |
| DDN-SLAM (RGB-D)Modality=RGB-D2026.03 | — | — | — | 1 | — | 1.7 | 1 | 1.4 | 3.9 | 2.3 | — | — | — | — | — | |
| DDN-SLAM (RGB)Input Modality=Monocular2025.04 | — | — | — | 1.3 | — | 3.1 | 2.5 | 2.8 | 8.9 | 4.1 | — | — | — | — | — | |
| DDN-SLAM (RGB)Modality=RGB-only2026.03 | — | — | — | 1.3 | — | 3.1 | 2.5 | 2.8 | 8.9 | 4.1 | — | — | — | — | — | |
| DG-SLAMInput Modality=RGB-D2025.04 | — | 3.2 | — | 1 | — | — | 0.6 | 1.6 | 4.3 | — | — | — | — | — | — | |
| DG-SLAMModality=RGB-D2026.03 | — | 3.2 | — | 1 | — | — | 0.6 | 1.6 | 4.3 | — | — | — | — | — | — | |
| RoDyn-SLAMInput Modality=RGB-D2025.04 | — | — | — | — | — | 4.4 | 1.7 | 8.3 | — | 5.6 | — | — | — | — | — | |
| RoDyn-SLAMModality=RGB-D2026.03 | — | — | — | — | — | 4.4 | 1.7 | 8.3 | — | 5.6 | — | — | — | — | — | |
| UP-SLAMModality=RGB-D2026.03 | — | 1.3 | — | 0.9 | — | — | 0.7 | 1.6 | — | 2.6 | — | — | — | — | — |