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Relative Pose Estimation on ScanNet 1500 pairs (test)

36.35AUC@5°

Reloc-VGGT

Updated 4d ago

Evaluation Results

Method
Reloc-VGGT 2025.12	36.35	58.62	75.9	-	-
Reloc3r-512 2024.12	34.79	58.37	75.56	-	-
Reloc3r-512 2025.12	34.79	58.37	75.56	-	-
MESA_DKM 2024.01	33.4	55	72	-	-
Dense Estimator 2025.06	33.3	55.2	72.2	64.6	1
Ours CCA 2025.06	33	54.9	72	1.4	46.3
Ours CCC 2025.06	32.8	54.7	71.8	1.1	58.3
NoPoSplat 2024.12	31.8	53.8	71.7	-	-
NoPoSplat 2025.12	31.8	53.8	71.7	-	-
Dense Estimator 2025.06	31.3	52.6	69.9	68.8	1
Ours CCA 2025.06	30.9	52.1	69.6	1.5	46.7
SEEM + SGAM_DKM 2024.01	30.6	52.3	69.3	-	-
Ours CCC 2025.06	30.4	51.7	69.3	1.2	58.6
Dense Estimator 2025.06	30.3	50.5	66.5	15.2	1
Ours CCA 2025.06	29.7	49.9	66.1	1.5	10.3
DKM 2024.01	29.4	50.7	68.3	-	-
ROMA 2024.12	28.9	50.4	68.3	-	-
Ours CCC 2025.06	28.9	49.2	65.7	1.2	13
ROMA 2025.12	28.9	50.4	68.3	-	-
MESA_QuadT 2024.01	28.7	46.5	61.9	-	-
Reloc3r-224 2024.12	28.34	52.6	71.56	-	-
MASt3R 2024.12	28.01	50.24	68.83	-	-
MASt3R 2025.12	28.01	50.24	68.83	-	-
SEEM + SGAM_ASpan 2024.01	27.5	48	65.3	-	-
MESA_ASpan 2024.01	27.5	48.2	65	-	-
CasMTR 2024.01	27.1	47	64.4	-	-
PATS 2024.01	26	46.9	64.3	-	-
ASpan 2024.01	25.6	46	63.3	-	-
SEEM + SGAM_QuadT 2024.01	25.5	46	63.4	-	-
QuadT 2024.01	24.9	44.7	61.8	-	-
DUSt3R 2024.12	23.81	45.91	65.57	-	-
DUSt3R 2025.12	23.81	45.91	65.57	-	-
SEEM + SGAM_LOFTR 2024.01	23.4	41.8	58.7	-	-
MESA_LOFTR 2024.01	22.9	41.8	59.4	-	-
LOFTR 2024.01	22.1	40.8	57.6	-	-
SP+LG 2025.06	21.8	39.6	55.6	3	-
Efficient LoFTR 2024.12	19.2	37	53.6	-	-
Efficient LoFTR 2025.12	19.2	37	53.6	-	-
SILK 2024.01	18	34.4	50.4	-	-
SP + SGMNet 2024.01	15.4	32.1	48.3	-	-
ExReNet 2024.12	2.3	10.71	26.13	-	-
ExReNet (SN) 2025.12	2.3	10.71	26.13	-	-
Map-free 2024.12	1.84	8.75	25.33	-	-
Map-free (Regress-SN) 2025.12	1.84	8.75	25.33	-	-
ExReNet 2024.12	1.61	7	18.03	-	-
ExReNet (SUNCG) 2025.12	1.61	7	18.03	-	-
Map-free 2024.12	0.5	3.48	13.15	-	-
Map-free (Regress-MF) 2025.12	0.5	3.48	13.15	-	-