Evaluation Leaderboard
| Method | AUC (VCRE < 90px) | Precision (VCRE < 90px) | Median Reproj. Error (px) | AUC (Err < 25cm, 5°) | Precision (Err < 25cm, 5°) | Median Trans. Error (m) | Median Rot. Error (°) | Estimates for % of frames |
|---|---|---|---|---|---|---|---|---|
| MASt3R (Ess.Mat + D.Scale) | 0.933 | 79.3% | 48.7 | 0.740 | 54.7% | 0.36 | 2.2 | 99.3 |
| MicKey trained w/ Overlap Score | 0.747 | 49.2% | 129.4 | 0.325 | 13.3% | 1.65 | 27.2 | 100.0 |
| MicKey | 0.740 | 49.2% | 126.9 | 0.283 | 12.0% | 1.59 | 25.9 | 100.0 |
| DPT-KITTI & DUSt3R (Ess.Mat. + D.Scale) | 0.697 | 50.3% | 115.8 | 0.393 | 21.4% | 0.98 | 7.1 | 99.5 |
| FAR (LoFTR) | 0.680 | 44.2% | 137.0 | 0.392 | 17.7% | 1.48 | 17.2 | 100.0 |
| DPT-KITTI & RoMa (Ess.Mat. + D.Scale) Note: maybe buggy | 0.669 | 45.6% | 128.8 | 0.407 | 22.8% | 1.23 | 11.1 | 99.9 |
| FAR (SuperGlue) | 0.668 | 44.1% | 135.4 | 0.351 | 17.1% | 1.49 | 17.2 | 100.0 |
| KBR++ & LoFTR (PnP) | 0.634 | 34.3% | 165.0 | 0.295 | 11.0% | 2.23 | 37.8 | 99.9 |
| KBR & LoFTR (PnP) | 0.631 | 34.0% | 167.5 | 0.277 | 10.5% | 2.32 | 39.5 | 100.0 |
| DPT-KITTI & LoFTR (PnP) | 0.618 | 33.4% | 166.7 | 0.269 | 9.8% | 2.31 | 39.4 | 100.0 |
| DPT-KITTI & LoFTR (Ess.Mat. + D.Scale) | 0.614 | 34.7% | 167.6 | 0.346 | 15.4% | 1.98 | 30.5 | 100.0 |
| DPT-KITTI & SuperGlue (Ess.Mat. + D.Scale) | 0.602 | 36.1% | 160.3 | 0.346 | 16.8% | 1.88 | 25.4 | 100.0 |
| DPT-KITTI & SuperGlue (PnP) | 0.598 | 36.0% | 156.9 | 0.252 | 10.7% | 2.10 | 32.5 | 100.0 |
| DPT-KITTI & SIFT (Ess.Mat. + D.Scale) | 0.504 | 25.0% | 222.8 | 0.252 | 10.3% | 2.93 | 61.4 | 100.0 |
| DPT-KITTI & SIFT (PnP) | 0.468 | 25.1% | 192.0 | 0.190 | 7.8% | 3.35 | 63.7 | 100.0 |
| RPR [R(6D) +t] | 0.402 | 40.2% | 147.1 | 0.060 | 6.0% | 1.68 | 22.5 | 100.0 |
| RPR [3D-3D] | 0.387 | 38.7% | 148.7 | 0.060 | 6.0% | 1.69 | 22.9 | 100.0 |
| RPR [R(α, β, γ) + s · t(θ, φ)] | 0.354 | 35.4% | 166.3 | 0.105 | 10.5% | 1.83 | 23.2 | 100.0 |