{
  "schema_version": 2,
  "source": {
    "description": "Final anonymous ICRA 2027 manuscript, Tables I-III and Figs. 3, 4 and 6. Values transcribed from the paper, not rerun.",
    "release_status": "final-review-manuscript",
    "caution": "Table I, Table II and Table III use separate runs and evaluation splits; absolute PSNR values should not be compared across these blocks."
  },
  "map_states": {
    "ME": "EliGSiR after the input stream and a bounded drain of already scheduled work (mapping end).",
    "NC": "Completed native pipeline of RTG-SLAM or SplaTAM.",
    "NT": "Short native post-stream tail of CaRtGS.",
    "+Nk PM": "N thousand additional post-mapping updates. VarSplat's +30k PM includes global optimization and bundle adjustment."
  },
  "online": {
    "scene": "TUM RGB-D fr3/long_office_household",
    "acquisition_seconds": 87.14,
    "note": "Real-time factor (RTF) = elapsed processing time / 87.14 s acquisition duration; 1x is real time. Evaluation rendering is excluded from mapping time.",
    "rows": [
      {"id": "eligsir-gt", "method": "EliGSiR", "poses": "gt", "map_state": "ME", "psnr_db": 21.52, "ssim": 0.757, "lpips": 0.320, "seconds": 176.1, "rtf": 2.02},
      {"id": "splatam-gt", "method": "SplaTAM", "poses": "gt", "map_state": "NC", "psnr_db": 19.42, "ssim": 0.703, "lpips": 0.445, "seconds": 1382.6, "rtf": 15.87},
      {"id": "varsplat-gt", "method": "VarSplat", "poses": "gt", "map_state": "+30k PM", "psnr_db": 16.44, "ssim": 0.574, "lpips": 0.510, "seconds": 2495.5, "rtf": 28.64},
      {"id": "rtgslam-gt", "method": "RTG-SLAM", "poses": "gt", "map_state": "NC", "psnr_db": 14.46, "ssim": 0.553, "lpips": 0.614, "seconds": 1147.8, "rtf": 13.17},
      {"id": "eligsir-tracked", "method": "EliGSiR", "poses": "tracked", "tracker": "live ORB-SLAM3", "map_state": "ME", "psnr_db": 23.02, "ssim": 0.803, "lpips": 0.276, "seconds": 155.5, "rtf": 1.78},
      {"id": "cartgs-tracked", "method": "CaRtGS", "poses": "tracked", "tracker": "native", "map_state": "NT", "psnr_db": 20.10, "ssim": 0.689, "lpips": 0.363, "seconds": 230.9, "rtf": 2.65}
    ]
  },
  "scenes": [
    {"scene": "Replica office0", "rows": [
      {"method": "RTG-SLAM", "map_state": "NC", "psnr_db": 34.62, "ssim": 0.940, "lpips": 0.263, "seconds": 412.4},
      {"method": "VarSplat", "map_state": "+30k PM", "psnr_db": 40.91, "ssim": 0.972, "lpips": 0.203, "seconds": 3742.2},
      {"method": "EliGSiR", "map_state": "ME", "psnr_db": 34.20, "ssim": 0.938, "lpips": 0.223, "seconds": 324.0, "footnote": "Timestamp-derived; includes evaluation/video generation."}
    ]},
    {"scene": "Replica room2", "rows": [
      {"method": "EliGSiR", "map_state": "+2k PM", "psnr_db": 37.07, "ssim": 0.964, "lpips": 0.137, "seconds": 746.4}
    ]},
    {"scene": "Orbbec floor2", "rows": [
      {"method": "RTG-SLAM", "map_state": "NC", "psnr_db": 18.52, "ssim": 0.718, "lpips": 0.461, "seconds": 775.2},
      {"method": "SplaTAM", "map_state": "NC", "psnr_db": 21.40, "ssim": 0.782, "lpips": 0.390, "seconds": 18349.6},
      {"method": "VarSplat", "map_state": "+30k PM", "psnr_db": 25.88, "ssim": 0.883, "lpips": 0.254, "seconds": 2274.7},
      {"method": "EliGSiR", "map_state": "ME", "psnr_db": 16.27, "ssim": 0.601, "lpips": 0.510, "seconds": 555.1}
    ]},
    {"scene": "Orbbec kitchen1", "rows": [
      {"method": "RTG-SLAM", "map_state": "NC", "psnr_db": 16.75, "ssim": 0.669, "lpips": 0.506, "seconds": 408.0},
      {"method": "SplaTAM", "map_state": "NC", "psnr_db": 17.59, "ssim": 0.731, "lpips": 0.447, "seconds": 2456.7},
      {"method": "CaRtGS", "map_state": "NT", "psnr_db": 20.12, "ssim": 0.856, "lpips": 0.281, "seconds": 99.2, "footnote": "Mapping time only; excludes the per-view pose refinement used to obtain the reported CaRtGS score."},
      {"method": "EliGSiR", "map_state": "ME", "psnr_db": 23.50, "ssim": 0.840, "lpips": 0.248, "seconds": 203.3}
    ]},
    {"scene": "ScanNet++ 8b5caf3398", "rows": [
      {"method": "EliGSiR", "map_state": "ME", "psnr_db": 19.58, "ssim": 0.817, "lpips": 0.307, "seconds": 390.9}
    ]},
    {"scene": "TUM RGB-D fr1/desk", "rows": [
      {"method": "RTG-SLAM", "map_state": "NC", "psnr_db": 16.07, "ssim": 0.559, "lpips": 0.570, "seconds": 707.0},
      {"method": "SplaTAM", "map_state": "NC", "psnr_db": 18.75, "ssim": 0.659, "lpips": 0.471, "seconds": 4726.5},
      {"method": "EliGSiR", "map_state": "+30k PM", "psnr_db": 20.60, "ssim": 0.729, "lpips": 0.408, "seconds": 678.3}
    ]}
  ],
  "refinement": {
    "scene": "TUM RGB-D fr3/long_office_household",
    "note": "Separate 4k, 8k and 16k refinement runs on a 45-view split distinct from Table I. RGB metrics use the original holdout poses after training-pose alignment. Depth RMSE uses representative retained views. Total time includes mapping and refinement.",
    "rows": [
      {"steps": 0, "stage": "Mapping end", "updates": 1372, "psnr_db": 23.27, "ssim": 0.807, "lpips": 0.269, "depth_rmse_m": 0.459, "gaussians_k": 328.1, "total_seconds": 144.9},
      {"steps": 4000, "stage": "+4k PM", "updates": 5372, "psnr_db": 23.64, "ssim": 0.814, "lpips": 0.264, "depth_rmse_m": 0.356, "gaussians_k": 356.6, "total_seconds": 1166.5},
      {"steps": 8000, "stage": "+8k PM", "updates": 9351, "psnr_db": 24.44, "ssim": 0.837, "lpips": 0.235, "depth_rmse_m": 0.347, "gaussians_k": 367.5, "total_seconds": 2188.6},
      {"steps": 16000, "stage": "+16k PM", "updates": 17102, "psnr_db": 25.62, "ssim": 0.855, "lpips": 0.213, "depth_rmse_m": 0.352, "gaussians_k": 381.3, "total_seconds": 5062.1}
    ]
  },
  "ablations": {
    "note": "Online ablations; runs are separate from Table I. Endpoint PSNR measures final global quality; CVQ-AUC and CUC@20 measure regional quality during acquisition. Supervised pixels and Gaussian count report optimization work and map size.",
    "scenes": [
      {"scene": "TUM RGB-D fr3/long_office_household", "rows": [
        {"variant": "EliGSiR", "psnr_db": 18.50, "cvq_auc_db": 21.18, "cuc20_pct": 69.2, "supervised_mpix": 398.2, "gaussians_k": 140.1},
        {"variant": "w/o adaptive fidelity", "psnr_db": 19.36, "cvq_auc_db": 20.62, "cuc20_pct": 65.4, "supervised_mpix": 2786.9, "gaussians_k": 549.5},
        {"variant": "w/o targeted growth", "psnr_db": 17.78, "cvq_auc_db": 20.84, "cuc20_pct": 63.1, "supervised_mpix": 330.9, "gaussians_k": 120.5}
      ]},
      {"scene": "ScanNet++ 8b5caf3398", "rows": [
        {"variant": "EliGSiR", "psnr_db": 18.71, "cvq_auc_db": 16.28, "cuc20_pct": 23.2, "supervised_mpix": 17559.6, "gaussians_k": 366.5},
        {"variant": "w/o adaptive fidelity", "psnr_db": 18.58, "cvq_auc_db": 16.36, "cuc20_pct": 16.4, "supervised_mpix": 25613.1, "gaussians_k": 341.5},
        {"variant": "w/o targeted growth", "psnr_db": 18.59, "cvq_auc_db": 16.59, "cuc20_pct": 17.7, "supervised_mpix": 14242.3, "gaussians_k": 1108.8}
      ]},
      {"scene": "Orbbec kitchen1", "rows": [
        {"variant": "EliGSiR", "psnr_db": 18.25, "cvq_auc_db": 19.75, "cuc20_pct": 55.3, "supervised_mpix": 285.6, "gaussians_k": 123.9},
        {"variant": "w/o adaptive fidelity", "psnr_db": 22.91, "cvq_auc_db": 20.44, "cuc20_pct": 77.9, "supervised_mpix": 2267.1, "gaussians_k": 565.0},
        {"variant": "w/o targeted growth", "psnr_db": 18.63, "cvq_auc_db": 19.55, "cuc20_pct": 53.3, "supervised_mpix": 276.9, "gaussians_k": 70.7}
      ]}
    ]
  }
}