Table 3.

Quantitative comparison of two representative scenes from ScanNet and 3Dmatch.

	3DMatch 7-Scenes-Fire				ScanNet Scene0002_00
	PSNR↑	SSIM↑	LPIPS↓	Depth-RMSE↓	PSNR↑	SSIM↑	LPIPS↓	Depth-RMSE↓
Depth-NeRF w/o completion	29.78	0.549	0.038	0.173	28.55	0.496	0.278	0.204
Depth-NeRF w/o depth loss	30.31	0.572	0.099	1.115	29.59	0.534	0.320	0.524
Depth-NeRF w/o dynamic sampling	30.40	0.564	0.128	0.498	29.48	0.531	0.231	0.489
Depth-NeRF	30.41	0.592	0.026	0.152	30.03	0.566	0.186	0.201