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Tracking on ScanNet (Sequence ATE RMSE)

4.2ATE RMSE (Seq 00)

Loopy-SLAM

Updated 26d ago

Evaluation Results

Method
Loopy-SLAM 2026.03	4.2	7.5	8.3	7.5	10.6	7.9	7.7
VarSplat 2026.03	4.9	5.8	6.7	6.7	8.9	6.2	6.5
GO-SLAM 2026.03	5.4	7.5	7	7	6.8	6.9	6.8
Uni-SLAM 2026.03	6.1	7.8	7.4	5.8	9.8	5.2	7
LoopSplat 2026.03	6.2	7.1	7.4	10.6	8.5	6.6	7.7
Co-SLAM 2026.03	7.1	11.1	9.4	5.9	11.8	7.1	8.7
CG-SLAM 2026.03	7.1	7.5	8.9	8.2	11.6	5.3	8.1
ESLAM 2026.03	7.3	8.5	7.5	6.5	9	5.7	7.4
Co-SLAM 2024.03	7.35	11.45	9.68	6.03	11.93	8.86	8.72
ESLAM 2024.03	7.84	9.24	7.82	6.78	9.35	5.88	7.82
MonoGS 2026.03	9.8	32.1	8.9	10.7	21.8	7.9	15.2
SplaTAM 2026.03	10.1	17.7	11.7	7.5	5.6	7.5	10
Point-SLAM 2026.03	10.2	10.8	8.7	7.2	22.2	14.8	12.3
Point-SLAM 2026.03	10.24	7.81	8.65	22.16	14.77	9.54	12.19
Point-SLAM 2024.03	10.24	7.81	8.65	22.16	14.77	9.54	12.19
Point-SLAM 2026.06	10.24	7.81	8.65	22.16	14.77	9.54	12.19
VCGS-SLAM 2024.03	10.81	9.01	15.57	10.83	10.73	6.41	10.57
VCS-SLAM 2026.06	10.85	12.36	9.23	10.51	9.75	8.62	10.22
MonoGS 2024.03	10.89	19.1	11.72	10.01	19.1	7.96	10.81
VCGS-SLAM 2024.03	11.31	9.05	15.98	11.01	10.85	6.54	10.79
GS3LAM 2026.03	11.34	10.78	17	11.35	10.57	6.39	11.24
Hier-SLAM 2026.06	11.45	9.61	17.8	11.93	10.04	7.32	11.36
VCGS-SLAM 2024.03	11.74	9.36	16.87	11.43	10.98	6.78	10.84
SemGauss-SLAM 2026.06	11.87	7.97	-	8.7	9.78	8.97	-
NICE-SLAM 2026.03	12	14	7.9	10.9	13.4	6.2	10.7
NICE-SLAM 2026.03	12	14	7.9	10.9	13.4	6.2	10.7
NICE-SLAM 2024.03	12	14	7.9	10.9	13.4	6.2	10.88
NICE-SLAM 2026.06	12	14	7.9	10.9	13.4	6.2	10.7
SplaTAM 2026.03	12.83	10.1	17.72	12.08	11.1	7.46	11.88
SplaTAM 2024.03	12.83	10.1	17.72	12.08	11.1	7.46	11.88
SplaTAM 2026.06	12.83	10.1	17.72	12.08	11.1	7.46	11.88
Gaussian-SLAM 2024.03	13.53	11.36	16.47	11.78	11.43	7.34	11.97
Gaussian-SLAM 2026.03	21.2	12.8	13.5	13.6	21	13.4	15.9
Vox-Fusion 2026.03	68.84	24.18	8.41	27.28	23.3	9.41	26.9
Vox-Fusion 2024.03	68.84	24.18	8.41	27.28	23.3	9.41	26.9
Vox-Fusion 2026.06	68.84	24.18	8.41	27.28	23.3	9.41	26.9