Rendering

Benchmarks

Dataset Name	SOTA Method	Metric
Replica and ScanNet++	DP-RECON	PSNR28.12	18	3mo ago
TUM-RGBD fr3 office	PointSLAM++	PSNR26.33	14	3mo ago
TUM-RGBD fr2 xyz	PointSLAM++	PSNR27.11	14	3mo ago
TUM-RGBD fr1/desk	PointSLAM++	PSNR25.05	14	3mo ago
FFHQ	GIRAFFE	Total Rendering Time (ms)5	13	3mo ago
Replica Office 4	GS-SLAM	PSNR32.92	11	1d ago
Replica Office 3	GS-SLAM	PSNR32.03	11	1d ago
Replica Office 2	GS-SLAM	PSNR32.36	11	1d ago
Replica Office 1	GS-SLAM	PSNR41.17	11	1d ago
Replica Office 0	GS-SLAM	PSNR38.7	11	1d ago
Replica Room 2	GS-SLAM	PSNR32.59	11	1d ago
Replica Room 1	GS-SLAM	PSNR32.86	11	1d ago
Replica Room 0	GS-SLAM	PSNR31.56	11	1d ago
Long Corridor Dataset Novel View (test)	Gaussian-SLAM+Ours	PSNR26.3	10	20d ago
Long Corridor Dataset View (train)	Gaussian-SLAM+Ours	PSNR28.9	10	20d ago
Mip-NeRF 360 Bonsai scene (1.2M Gaussians) (test)	Compressed 3D Gaussian Splatting	FPS502	10	3mo ago
Mip-NeRF 360 Bicycle scene (6.1M Gaussians) (test)	Compressed 3D Gaussian Splatting	FPS321	10	3mo ago
C3VD high-definition (test)	EndoGSLAM-H	PSNR22.16	8	3mo ago
NeRF synthetic	3DGS	PSNR33.33	7	23d ago
TUM2TWIN	3DGS	PSNR31.68	7	2mo ago
TUM2TWIN (building1)	EntON	PSNR32.57	7	2mo ago
C3VD Average v2	NRGS-SLAM	PSNR26.33	7	3mo ago
C3VD v2 (c2_transverse1_t1_v4)	NRGS-SLAM	PSNR25.53	7	3mo ago
C3VD c1_sigmoid2_t4_v4 v2	NRGS-SLAM	PSNR26.45	7	3mo ago
C3VD c1_sigmoid1_t4_v4 v2	NRGS-SLAM	PSNR28.73	7	3mo ago

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