FPS of SLAM System

[ShunkaiZhou]

Hi @yanyan-li , thank you for your excellent work and open-source code.

I successfully ran the code on an A100 GPU (40G) in rgbd_dataset_freiburg3_sitting_xyz, but the FPS was low (process approximately 660 frames in 5 hours). I suspect I may have made a mistake somewhere, so I would like to ask if this is the normal processing speed?

Thank you so much and best wishes!!!

[yanyan-li]

Hi @ShunkaiZhou , thanks for your interest and glad to hear you got the code running successfully!

Yes, the training speed is indeed still an open challenge in this domain. The main bottleneck comes from training the transformation field online, which is computationally expensive. This step is essential for handling dynamic scenes, but it does introduce noticeable overhead compared to purely static mapping approaches. The following performance analysis tested on the BONN sync sequence.

Modules	RoDyn-SLAM	SplaTAM	MonoGS	DG-SLAM	Ours	Modules	SC-GS	Ours
Static Tracking						Dynamic Mapping
Track. Iter. [ms]	15.7	6.5	10.0	6.5	5.6	Map. Iter. [s]	0.3	0.5
Track. Frame [ms]	314	1300	82	54	283	Total Time [h]	4.9	2.8

[ShunkaiZhou]

I understand. Thank you for your reply!!!