Tracking on Waymo
0.51ATE RMSE (m)KiloGS-SLAM
Evaluation Results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| KiloGS-SLAM2026.06 | 0.51 | — | — | — | — | — | — | — | — | — | 0.58 | 0.33 | 0.36 | 0.55 | 0.46 | 0.68 | 0.59 | 0.59 | 0.47 | |
| Splat-SLAM2026.06 | 0.59 | — | — | — | — | — | — | — | — | — | 0.62 | 0.4 | 0.41 | 0.24 | 0.63 | 1.2 | 0.66 | 0.65 | 0.54 | |
| M32026.03 | 0.773 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pi3X2026.03 | 0.827 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPVO2026.06 | 0.85 | — | — | — | — | — | — | — | — | — | 0.93 | 0.59 | 0.29 | 0.68 | 0.72 | 1.3 | 1.12 | 0.99 | 1.04 | |
| GigaSLAM2026.06 | 0.87 | — | — | — | — | — | — | — | — | — | 2.54 | 0.34 | 0.38 | 0.97 | 0.48 | 0.64 | 0.63 | 1.32 | 0.52 | |
| S3PO-GS2026.06 | 0.92 | — | — | — | — | — | — | — | — | — | 1.04 | 0.76 | 0.37 | 0.62 | 0.79 | 2.11 | 0.69 | 1.42 | 0.51 | |
| VGGT-SLAM 2.02026.03 | 1.295 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DA3-Streaming2026.06 | 1.35 | — | — | — | — | — | — | — | — | — | 0.61 | 1.08 | 0.77 | 0.42 | 1.76 | 2.21 | 1.96 | 1.7 | 0.92 | |
| OpenGS-SLAM2026.06 | 1.38 | — | — | — | — | — | — | — | — | — | 2.74 | 0.33 | 0.89 | 0.78 | 0.62 | 1.62 | 1.18 | 3.31 | 0.93 | |
| VGGT-Long2026.06 | 1.46 | — | — | — | — | — | — | — | — | — | 0.71 | 1.31 | 2.64 | 1.67 | 0.62 | 1.17 | 1.57 | 1.92 | 1.61 | |
| MASt3R-SLAM2026.06 | 1.87 | — | — | — | — | — | — | — | — | — | 3.15 | 0.86 | 0.98 | 1.03 | 0.82 | 4.3 | 1.87 | 2.46 | 1.35 | |
| Vings-Mono2026.06 | 2.28 | — | — | — | — | — | — | — | — | — | 2.69 | 1.11 | 3.89 | 3.88 | 1.69 | 2.09 | 2.15 | 2.26 | 0.73 | |
| ARTDECO2026.03 | 2.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OnTheFly-NVS2026.06 | 2.66 | — | — | — | — | — | — | — | — | — | 5.65 | 1.6 | 1.17 | 1.43 | 2.24 | 3.05 | 1.74 | 4.68 | 2.36 | |
| ORB-SLAM22026.06 | 3.95 | — | — | — | — | — | — | — | — | — | 1.08 | 4.77 | 8.01 | 4.55 | 6.79 | 2.21 | 4.25 | 2.59 | 1.31 | |
| VGGT-SLAM2026.06 | 5.81 | — | — | — | — | — | — | — | — | — | 5.54 | 6.32 | 3.55 | 4.64 | 5.46 | 6.93 | 10 | 5.58 | 4.27 | |
| DROID-SLAM2026.03 | 7.535 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DROID-SLAM2026.06 | 10.4 | — | — | — | — | — | — | — | — | — | 6.71 | 3.95 | 3.45 | 19.4 | 5.18 | 6.42 | 11.5 | 33.1 | 3.92 | |
| VGGT-SLAM2026.03 | 13.166 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MASt3R-SLAM2026.03 | 16.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HI-SLAM22025.09 | — | 0.79 | 2.132 | 0.888 | 1.281 | 0.964 | 1.389 | 1.782 | 2.558 | 1.473 | — | — | — | — | — | — | — | — | — | |
| MCGS-SLAM2025.09 | — | 0.398 | 2.366 | 1.242 | 1.107 | 2.554 | 1.18 | 0.612 | 0.927 | 1.298 | — | — | — | — | — | — | — | — | — | |
| MonoGS2025.09 | — | 10.727 | 19.532 | 12.033 | 3.394 | 9.073 | 1.628 | 10.101 | 9.189 | 9.459 | — | — | — | — | — | — | — | — | — | |
| NICER-SLAM2025.09 | — | 2.351 | 1.634 | 56.363 | 2.642 | 19.409 | 19.782 | 2.362 | 14.708 | 14.906 | — | — | — | — | — | — | — | — | — | |
| Splat-SLAM2025.09 | — | 0.802 | 1.973 | 1.133 | 1.625 | 1.092 | 2.572 | 2.575 | 3.115 | 1.861 | — | — | — | — | — | — | — | — | — |