Tracking on TUM RGBD (test)
0.015fr1/desk ErrorPhoto-SLAM
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Photo-SLAMInput mode=monocular, Loop closure=enabled, Offline full pose graph optimization=disabled2026.04 | 0.015 | — | — | 0.003 | 0.021 | — | |
| HI-SLAM2Input mode=monocular, Loop closure=enabled, Offline full pose graph optimization=disabled2026.04 | 0.021 | — | — | 0.002 | 0.017 | — | |
| GaussianFlow SLAMInput mode=monocular, Loop closure=enabled, Offline full pose graph optimization=disabled2026.04 | 0.024 | — | — | 0.001 | 0.015 | — | |
| MonoGSInput mode=monocular, Loop closure=enabled, Offline full pose graph optimization=disabled2026.04 | 0.026 | — | — | 0.047 | 0.027 | — | |
| WildGS-SLAMInput mode=monocular, Loop closure=enabled, Offline full pose graph optimization=disabled, Execution mode=static2026.04 | 0.026 | — | — | 0.023 | 0.13 | — | |
| MM3DGS-SLAMInput mode=monocular, Loop closure=enabled, Offline full pose graph optimization=disabled, Scale alignment=monocular prior2026.04 | 0.439 | — | — | 0.236 | 1.481 | — | |
| Orbeez-SLAMModality=Monocular, Base=Feature2026.02 | 1.23 | — | — | 0.23 | 1.71 | 1.05 | |
| MonoGSModality=RGB-D, Base=Direct2026.02 | 1.47 | — | — | 1.39 | 1.66 | 1.02 | |
| ORB-SLAM2Input Modality=RGB-D2025.04 | 1.6 | — | — | 0.4 | 1 | 1 | |
| Splat-SLAMInput Modality=Monocular2025.04 | 1.6 | — | — | 0.2 | 1.4 | 1.1 | |
| Photo-SLAMModality=Monocular, Base=Feature2026.02 | 1.64 | — | — | 0.25 | 1.16 | 1.34 | |
| WildGS-SLAMInput Modality=Monocular2025.04 | 1.7 | — | — | 0.3 | 1.4 | 1.1 | |
| DROID-SLAMInput Modality=Monocular2025.04 | 1.8 | — | — | 0.5 | 2.8 | 1.7 | |
| GSO-SLAMModality=Monocular, Base=Direct2026.02 | 2.54 | — | — | 0.2 | 6.47 | 3.07 | |
| SNI-SLAM2023.11 | 2.56 | 4.35 | 11.46 | 1.12 | 2.27 | 4.35 | |
| NICE-SLAMInput Modality=RGB-D2025.04 | 2.7 | — | — | 1.8 | 3 | 2.5 | |
| Point-SLAMModality=RGB-D, Base=Direct2026.02 | 2.73 | — | — | 1.3 | 3.52 | 2.52 | |
| MonoGSModality=Monocular, Base=Direct2026.02 | 3.29 | — | — | 4.22 | 3.7 | 3.73 | |
| SplaTAMModality=RGB-D, Base=Direct2026.02 | 3.3 | — | — | 1.32 | 5.12 | 3.25 | |
| Vox-Fusion2023.11 | 3.52 | 6 | 19.53 | 1.49 | 26.01 | 11.31 | |
| MonoGSInput Modality=Monocular2025.04 | 3.8 | — | — | 5.2 | 2.9 | 4 | |
| MGSO*Modality=Monocular, Base=Direct2026.02 | 3.91 | — | — | 0.21 | 10.12 | 4.74 | |
| NICE-SLAM2023.11 | 4.26 | 4.99 | 34.49 | 31.73 | 3.87 | 15.87 | |
| Point-SLAM2023.11 | 4.34 | 4.54 | 30.92 | 1.31 | 3.48 | 8.92 |