| Methods | Acc↓ [cm] |
Comp↓ [cm] |
Comp Ratio↑ [%] |
Depth L1↓ [cm] |
Track.↓ [ms x it] |
Map.↓ [ms x it] |
Track. FPS↑ |
Map. FPS↑ |
#param↓ |
|---|---|---|---|---|---|---|---|---|---|
| iMAP* | 18.29 | 26.41 | 20.73 | 47.22 | 31.0x50 | 49.1x300 | 0.64 | 0.07 | 0.22M |
| NICE-SLAM | 5.95 | 5.30 | 77.46 | 6.32 | 12.3x10 | 50.4x60 | 8.13 | 0.33 | 3.11M |
| Vox-Fusion | 4.10 | 4.81 | 81.78 | 6.13 | 16.6x30 | 46.2x10 | 2.00 | 2.16 | 0.84M |
| Co-SLAM | 2.95 | 2.96 | 86.88 | 3.02 | 6.4x10 | 10.4x10 | 15.63 | 9.62 | 0.26M |
The runtime is measured as the total processing time from the program starts until the final checkpoint is saved. Mesh saving was disabled for NICE-SLAM and iMAP* as we observed that they can take up to ~10 minutes to extract a single mesh.
| Methods | Acc↓ [cm] |
Comp↓ [cm] |
Comp Ratio↑ [%] |
Depth L1↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|---|---|---|
| iMAP* | 10.56 | 11.27 | 46.91 | 24.03 | 1hr25min | 0.22M |
| NICE-SLAM | 3.44 | 3.69 | 87.69 | 3.66 | 16min15s | 3.40M |
| Vox-Fusion | 2.23 | 3.02 | 89.67 | 4.79 | 15min5s | 0.80M |
| Co-SLAM | 1.97 | 1.93 | 94.75 | 3.51 | 1min51s | 0.26M |
| Methods | Acc↓ [cm] |
Comp↓ [cm] |
Comp Ratio↑ [%] |
Depth L1↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|---|---|---|
| iMAP* | 25.16 | 31.09 | 12.96 | 63.59 | 1hr28min | 0.22M |
| NICE-SLAM | 10.92 | 12.00 | 55.41 | 12.08 | 13min42s | 7.33M |
| Vox-Fusion | 3.66 | 13.53 | 66.16 | 14.66 | 15min40s | 1.00M |
| Co-SLAM | 4.68 | 4.94 | 68.91 | 5.62 | 1min58s | 0.26M |
| Methods | Acc↓ [cm] |
Comp↓ [cm] |
Comp Ratio↑ [%] |
Depth L1↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|---|---|---|
| iMAP* | 13.01 | 19.17 | 21.78 | 26.22 | 1hr44min | 0.22M |
| NICE-SLAM | 5.34 | 4.94 | 82.78 | 10.88 | 12min44s | 3.05M |
| Vox-Fusion | 14.58 | 4.19 | 74.31 | 5.78 | 15min20s | 0.85M |
| Co-SLAM | 2.10 | 2.96 | 90.80 | 1.95 | 2min15s | 0.26M |
| Methods | Acc↓ [cm] |
Comp↓ [cm] |
Comp Ratio↑ [%] |
Depth L1↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|---|---|---|
| iMAP* | 11.90 | 20.39 | 20.48 | 21.32 | 1hr48min | 0.22M |
| NICE-SLAM | 2.63 | 3.15 | 87.72 | 2.57 | 14min2s | 2.40M |
| Vox-Fusion | 2.13 | 2.78 | 92.06 | 2.26 | 15min40s | 0.85M |
| Co-SLAM | 1.89 | 2.16 | 95.04 | 1.25 | 2min22s | 0.26M |
| Methods | Acc↓ [cm] |
Comp↓ [cm] |
Comp Ratio↑ [%] |
Depth L1↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|---|---|---|
| iMAP* | 29.62 | 49.22 | 10.72 | 61.29 | 1hr6min | 0.22M |
| NICE-SLAM | 6.55 | 3.13 | 85.04 | 1.72 | 8min19s | 2.00M |
| Vox-Fusion | 1.79 | 3.06 | 86.38 | 2.66 | 8min | 0.75M |
| Co-SLAM | 1.60 | 2.67 | 86.98 | 1.41 | 1min24s | 0.26M |
| Methods | Acc↓ [cm] |
Comp↓ [cm] |
Comp Ratio↑ [%] |
Depth L1↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|---|---|---|
| iMAP* | 12.98 | 21.07 | 19.17 | 29.16 | 29min40s | 0.22M |
| NICE-SLAM | 3.57 | 5.28 | 72.05 | 7.74 | 3min43s | 0.38M |
| Vox-Fusion | 1.46 | 3.15 | 83.01 | 5.28 | 3min40s | 0.73M |
| Co-SLAM | 3.38 | 2.74 | 86.74 | 4.66 | 37s | 0.26M |
| Methods | Acc↓ [cm] |
Comp↓ [cm] |
Comp Ratio↑ [%] |
Depth L1↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|---|---|---|
| iMAP* | 24.82 | 32.63 | 13.07 | 81.71 | 1hr59min | 0.22M |
| NICE-SLAM | 9.22 | 4.89 | 71.56 | 5.59 | 17min29s | 3.20M |
| Vox-Fusion | 2.90 | 3.99 | 80.87 | 7.51 | 20min40s | 0.93M |
| Co-SLAM | 5.03 | 3.34 | 84.94 | 2.74 | 3min40s | 0.26M |