Performance Comparison Tables

February 26, 2026 · View on GitHub

Table 1: Comparison of localization methods on Replica
Table 2: Comparison of mapping methods on Replica
Table 3: Comparison of reconstruction methods on D-NeRF
Table 4: Comparison of reconstruction methods on ZJU-MoCap
Table 5: Comparison of reconstruction methods on EndoNeRF

Table 1: Comparison of localization methods on Replica

Comparison of localization methods on Replica (static scenes), in terms of absolute trajectory error (ATE, cm).

Method	GS	Room0	Room1	Room2	Office0	Office1	Office2	Office3	Office4	Average
Vox-Fusion		1.37	4.70	1.47	8.48	2.04	2.58	1.11	2.94	3.09
NICE-SLAM		0.97	1.31	1.07	0.88	1.00	1.06	1.10	1.13	1.06
ESLAM		0.71	0.70	0.52	0.57	0.55	0.58	0.72	0.63	0.63
Point-SLAM		0.61	0.41	0.37	0.38	0.48	0.54	0.69	0.72	0.52
Co-SLAM		0.70	0.95	1.35	0.59	0.55	2.03	1.56	0.72	1.00
Gaussian-SLAM	✓	3.35	8.74	3.13	1.11	0.81	0.78	1.08	7.21	3.27
GSSLAM	✓	0.47	0.43	0.31	0.70	0.57	0.31	0.31	0.31	0.79
GS-SLAM	✓	0.48	0.53	0.33	0.52	0.41	0.59	0.46	0.70	0.50
SplaTAM	✓	0.31	0.40	0.29	0.47	0.27	0.29	0.32	0.55	0.36

Table 2: Comparison of mapping methods on Replica

Comparison of mapping methods on Replica (static scenes), in terms of PSNR, SSIM, and LPIPS.

Method	GS	Metric	Room0	Room1	Room2	Office0	Office1	Office2	Office3	Office4	Average	FPS
NICE-SLAM		PSNR↑	22.12	22.47	24.52	29.07	30.34	19.66	22.23	24.94	24.42	0.81
		SSIM↑	0.69	0.76	0.81	0.87	0.89	0.80	0.80	0.86	0.81
		LPIPS↓	0.33	0.27	0.21	0.23	0.18	0.23	0.21	0.20	0.23
Vox-Fusion		PSNR↑	22.39	22.36	23.92	27.79	29.83	20.33	23.47	25.21	24.41	2.17
		SSIM↑	0.68	0.75	0.80	0.86	0.88	0.79	0.80	0.85	0.80
		LPIPS↓	0.30	0.27	0.23	0.24	0.18	0.24	0.21	0.20	0.24
Point-SLAM		PSNR↑	32.40	34.08	35.50	38.26	39.16	33.99	33.48	33.49	35.17	1.33
		SSIM↑	0.97	0.98	0.98	0.98	0.98	0.96	0.96	0.98	0.97
		LPIPS↓	0.11	0.12	0.11	0.10	0.12	0.16	0.13	0.14	0.12
SplaTAM	✓	PSNR↑	32.86	33.89	35.25	38.26	39.17	31.97	29.70	31.81	34.11	-
		SSIM↑	0.98	0.98	0.98	0.98	0.98	0.95	0.95	0.97
		LPIPS↓	0.07	0.10	0.08	0.09	0.09	0.10	0.12	0.15	0.10
GSSLAM	✓	PSNR↑	31.56	32.86	32.59	38.70	41.17	32.36	32.03	32.92	34.27	-
		SSIM↑	0.97	0.97	0.97	0.99	0.99	0.98	0.98	0.97	0.97
		LPIPS↓	0.07	0.07	0.07	0.05	0.03	0.09	0.11	0.11	0.08
GSSLAM	✓	PSNR↑	34.83	36.43	37.49	39.95	42.09	36.24	36.70	36.07	37.50	769
		SSIM↑	0.98	0.98	0.96	0.97	0.98	0.98	0.98	0.96	0.98
		LPIPS↓	0.07	0.08	0.07	0.07	0.06	0.08	0.07	0.10	0.07
Gaussian-SLAM	✓	PSNR↑	34.31	37.28	38.18	43.97	43.56	37.39	36.48	40.19	38.90	-
		SSIM↑	0.99	0.99	0.99	1.00	0.99	0.99	0.99	1.00	0.99	-
		LPIPS	0.08	0.07	0.07	0.04	0.04	0.07	0.07	0.07	0.07	-

Table 3: Comparison of reconstruction methods on D-NeRF

Comparison of reconstruction methods on D-NeRF (dynamic scenes), in terms of PSNR, SSIM, and LPIPS.

Method	GS	PSNR↑	SSIM↑	LPIPS↓
D-NeRF		30.50	0.95	0.07
TiNeuVox-B		32.67	0.97	0.04
KPlanes		31.61	0.97	-
HexPlane-Slim		32.68	0.97	0.02
MSTH		31.34	0.98	0.02
3D GS	✓	23.19	0.93	0.08
4DGS	✓	34.09	0.98	-
4D-GS	✓	34.05	0.98	0.02
GaGS	✓	37.36	0.99	0.01
D-3DGS	✓	39.51	0.99	0.02

Table 4: Comparison of reconstruction methods on ZJU-MoCap

Comparison of reconstruction methods on ZJU-MoCap (avatar), in terms of PSNR, SSIM, and LPIPS*. The numbers of non-GS methods are taken from GART.

Method	GS	PSNR↑	SSIM↑	LPIPS↓*
NeuralBody		29.03	0.96	42.47
AnimNeRF		29.77	0.96	46.89
PixelNeRF		24.71	0.89	121.86
NHP		28.25	0.95	64.77
HumanNeRF		30.66	0.97	33.38
Instant-NVR		31.01	0.97	38.45
GauHuman	✓	31.34	0.97	30.51
3DGS-Avatar	✓	30.61	0.97	29.58
GART	✓	32.22	0.98	29.21

Table 5: Comparison of reconstruction methods on EndoNeRF

Comparison of reconstruction methods on EndoNeRF (surgical scenes), in terms of PSNR, SSIM, and LPIPS. The numbers of non-GS methods, FPS, and GPU usage (Mem.) are taken from . * denotes numbers taken from . ^† denotes the average of the values reported in the original paper.

Method	GS	PSNR↑	SSIM↑	LPIPS↓	FPS↓	Mem.↓
EndoNeRF		36.06	0.93	0.09	0.04	19GB
EndoSurf		36.53	0.95	0.07	0.04	17GB
LerPlane-9k		35.00	0.93	0.08	0.91	20GB
LerPlane-32k		37.38	0.95	0.05	0.87	20GB
Endo-4DGS	✓	37.00	0.96	0.05	-	4GB
EndoGaussian	✓	37.85	0.96	0.05	195.09	2GB
HFGS	✓	38.14	0.97	0.03	-	-