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Camera Pose Estimation on ScanNet static indoor scenes

0.014ATE

D4RT

Updated 16d ago

Evaluation Results

Method	Links
D4RT 2025.12		0.014	0.01	0.302
pi^3 2025.12		0.015	0.01	0.291
VGGT 2025.12		0.016	0.012	0.316
SpatialTrackerV2 2025.12		0.018	0.012	0.324
MapAnything 2025.12		0.023	0.016	0.438
MegaSaM 2025.12		0.029	0.016	0.839
IVGT 2026.05		0.032	0.014	0.422
VGGT 2026.03		0.0347	0.0151	0.3758
VGGT 2026.03		0.035	0.015	0.377
VGGT 2026.05		0.035	0.015	0.403
WorldMirror 2026.05		0.037	0.017	0.422
MoRe(FA) 2026.03		0.0375	0.0147	0.3847
Stream3R 2026.03		0.0521	0.0215	0.9919
MapAnything 2026.03		0.0603	0.028	0.849
MoRe 2026.03		0.0605	0.0212	0.5595
Wint3R 2026.03		0.0618	0.0204	0.7028
RayMap3R 2026.03		0.064	0.016	0.635
TTT3R 2026.03		0.065	0.021	0.637
Spann3R 2026.03		0.0651	0.0339	0.9348
FLARE 2026.05		0.069	0.025	0.991
MonST3R 2026.03		0.077	0.018	0.529
MonST3R-GA 2026.05		0.077	0.018	0.529
MASt3R 2026.03		0.078	0.02	0.475
MASt3R-GA 2026.05		0.078	0.02	0.475
DUSt3R 2026.03		0.081	0.028	0.784
DUSt3R-GA 2026.05		0.081	0.028	0.784
Fast3R 2026.05		0.084	0.059	2.844
Ours 2026.05		0.086	0.026	0.583
CUT3R 2026.03		0.0929	0.0223	0.5811
Spann3R 2026.03		0.096	0.023	0.661
Spann3R 2026.05		0.096	0.023	0.661
CUT3R 2026.05		0.096	0.022	0.733
Point3R 2026.05		0.097	0.035	2.791
CUT3R 2026.03		0.098	0.022	0.6
CUT3R 2026.05		0.099	0.022	0.6
Point3R 2026.03		0.106	0.035	1.946
StreamVGGT 2026.03		0.1436	0.0437	1.6533
CasualSAM 2026.05		0.158	0.034	1.618
StreamVGGT 2026.03		0.161	0.057	3.647
Robust-CVD 2026.05		0.227	0.064	7.374