Result details - ETH3D

Submitted anonymously.

Submission data

Full name	MASt3R full-improved
Description	Improved MASt3R variant with enhanced matching and coarse-to-fine refinement, adapted to the ETH3D SLAM benchmark. RGB-D input is used, and frame-to-frame poses are estimated from MASt3R matches followed by PnP-based pose recovery.
Parameters	Frame stride: 15 Pixel tolerance: 5 PnP backend: PoseLib Reprojection error diagonal ratio: 0.008 PnP max points: 12000 Improved matching: full-improved Coarse-to-fine refinement enabled Input resolution follows the MASt3R default patch-compatible resizing.
Programming language(s)	Python with PyTorch and CUDA
Hardware	NVIDIA GPU, PyTorch/CUDA environment
Submission creation date	6 Jun, 2026
Last edited	6 Jun, 2026

High-res multi-view results

Info	all	high-res multi-view	indoor	outdoor	botani.	boulde.	bridge	door	exhibi.	lectur.	living.	lounge	observ.	old co.	statue	terrac.
No results yet.

Low-res many-view results

Info	all	low-res many-view	indoor	outdoor	delivery area	electro	forest	playground	terrains
No results yet.

Low-res two-view results

Info	all	lakes. 1l	lakes. 1s	sand box 1l	sand box 1s	stora. room 1l	stora. room 1s	stora. room 2l	stora. room 2s	stora. room 2 1l	stora. room 2 1s	stora. room 2 2l	stora. room 2 2s	stora. room 3l	stora. room 3s	tunnel 1l	tunnel 1s	tunnel 2l	tunnel 2s	tunnel 3l	tunnel 3s
No results yet.

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
		4.67								7.57											6.95	5.39	7.41			fail