| COLMAP (SIFT+NN) |
240.107 | 370.769 | 197.697 | 31.610 | 48.867 | 26.095 |
66.786 | 112.163 | 47.742 | 42.415 | 72.848 | 29.834 |
| COLMAP (SIFT+NN)* |
117.781 | 122.004 | 112.627 | 15.574 | 16.136 | 14.897 |
1.594 | 1.682 | 1.455 | 0.955 | 1.010 | 0.873 |
| Pixel-Perfect (Disk+NN) |
313.362 | 359.700 | 268.225 | 41.203 | 47.331 | 35.277 |
66.886 | 76.557 | 58.248 | 42.040 | 49.425 | 36.684 |
| Pixel-Perfect (Disk+NN)* |
179.227 | 183.157 | 176.467 | 23.683 | 24.205 | 23.320 |
5.264 | 5.447 | 5.078 | 2.909 | 3.001 | 2.798 |
| Pixel-Perfect (R2D2+NN) |
126.477 | 211.908 | 64.953 | 16.540 | 27.800 | 8.501 |
61.212 | 96.716 | 42.744 | 39.093 | 63.352 | 26.318 |
| Pixel-Perfect (R2D2+NN)* |
91.132 | 103.760 | 83.591 | 12.052 | 13.727 | 11.054 |
2.950 | 3.358 | 2.603 | 1.860 | 2.043 | 1.647 |
| Pixel-Perfect (SuperPoint+NN) |
406.536 | 728.230 | 138.871 | 53.937 | 97.041 | 18.185 |
220.455 | 469.903 | 107.160 | 137.272 | 279.020 | 66.045 |
| Pixel-Perfect (SuperPoint+NN)* |
10.456 | 24.965 | 4.414 | 1.389 | 3.313 | 0.582 |
2.686 | 4.290 | 1.883 | 1.726 | 2.521 | 1.257 |
| Pixel-Perfect (SuperPoint+SuperGlue) |
490.563 | 634.495 | 227.274 | 65.008 | 84.246 | 30.119 |
207.518 | 300.653 | 142.050 | 130.619 | 190.479 | 86.182 |
| Pixel-Perfect (SuperPoint+SuperGlue)* |
7.307 | 14.157 | 3.808 | 0.965 | 1.873 | 0.502 |
2.391 | 3.534 | 1.384 | 1.563 | 2.146 | 0.986 |
| DUSt3R (Linear) |
5854.966 | 5982.099 | 5570.567 | 774.200 | 791.681 | 739.994 |
163.994 | 164.348 | 163.778 | 104.706 | 104.928 | 104.567 |
| DUSt3R (Linear)* |
5885.447 | 6087.489 | 5602.540 | 776.848 | 805.607 | 742.758 |
156.384 | 157.863 | 154.685 | 93.320 | 94.269 | 92.218 |
| DUSt3R (DPT) |
9959.293 | 10114.131 | 9760.731 | 1309.893 | 1329.840 | 1283.910 |
164.321 | 164.702 | 163.716 | 104.895 | 105.115 | 104.549 |
| DUSt3R (DPT)* |
9878.869 | 10023.006 | 9727.524 | 1300.423 | 1318.947 | 1280.676 |
170.561 | 171.531 | 169.178 | 104.892 | 105.471 | 104.069 |
| VGGSfM |
560.150 | 1056.412 | 413.168 | 73.191 | 137.347 | 53.895 |
164.713 | 164.713 | 164.713 | 105.052 | 105.052 | 105.052 |
| VGGSfM* |
120.997 | 131.599 | 111.526 | 15.918 | 17.316 | 14.686 |
6.645 | 7.894 | 5.964 | 4.067 | 4.869 | 3.666 |
| Ours (Single frame) |
6.598 | 8.916 | 2.950 | 0.870 | 1.178 | 0.396 |
2.227 | 2.845 | 1.546 | 1.483 | 1.789 | 1.106 |
| Ours (Multiple frames) |
5.405 | | | 0.712 | | |
1.994 | | | 1.335 | | |