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Benchmarks
3D reconstruction on ScanNet++ v2
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0.029
Scale Rel Error
Pixio
0.02816
0.03383
0.0395
0.04517
Dec 17, 2025
Scale Rel Error
Points Rel Error
Points Alignment Score (τ)
Pose AUC@5
Depth Rel Error
Depth Alignment Score (τ)
Updated 4d ago
Evaluation Results
Method
Method
Links
Scale Rel Error
Points Rel Error
Points Alignment Score (τ)
Pose AUC@5
Depth Rel Error
Depth Alignment Score (τ)
Pixio
ViT=H/16
2025.12
0.029
0.041
78.8
80.5
0.042
72.4
DINOv3
ViT=H+/16
2025.12
0.035
0.051
69
68.5
0.051
61.2
DINOv2
ViT=L/14
2025.12
0.041
0.052
67.6
73.2
0.052
60.6
MAE
ViT=H/14
2025.12
0.05
0.057
63.3
65.6
0.058
55.4
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