Result details - ETH3D

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Submission data

Full name	RobustSparseGeometryMapping
Description	A sparse geometric mapping framework that estimates camera motion and reconstructs 3D landmarks from stereo image pairs. The method employs robust outlier rejection, adaptive landmark selection, and graph-based optimization to maintain accurate localization in large-scale environments. IMU integration improves motion estimation during rapid movements and low-texture scenes.
Parameters	Maximum landmarks: 5000 Feature detection threshold: 0.02 RANSAC iterations: 1000 Keyframe insertion distance: 0.5 m Graph optimization frequency: every 20 frames IMU fusion weight: 0.40
Programming language(s)	C++, Eigen, OpenCV
Hardware	A100
Submission creation date	23 Jun, 2026
Last edited	23 Jun, 2026

High-res multi-view results

Info	all	high-res multi-view	indoor	outdoor	courty.	delive.	electro	facade	kicker	meadow	office	pipes	playgr.	relief	relief.	terrace	terrai.
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Low-res many-view results

Info	all	low-res many-view	indoor	outdoor	lakeside	sand box	storage room	storage room 2	tunnel
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Low-res two-view results

Info	all	deliv. area 1l	deliv. area 1s	deliv. area 2l	deliv. area 2s	deliv. area 3l	deliv. area 3s	elect. 1l	elect. 1s	elect. 2l	elect. 2s	elect. 3l	elect. 3s	facade 1s	forest 1s	forest 2s	playg. 1l	playg. 1s	playg. 2l	playg. 2s	playg. 3l	playg. 3s	terra. 1s	terra. 2s	terra. 1l	terra. 1s	terra. 2l	terra. 2s
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SLAM results

		all	boxes	boxes dark	buddha	cables 4	cables 5	desk 1	desk 2	desk changing 2	desk dark 1	desk dark 2	desk global light changes	desk ir light	dino	drone	foreground occlusion	helmet	kidnap 2	lamp	large loop 2	large loop 3	large non loop	motion 2	motion 3	motion 4	planar 1	reflective 2	scale change	table 1	table 2	table 5	table 6	table global light changes	table local light changes	table scene	trashbin
	Method	Info
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