diff --git a/README.md b/README.md
index 2c20911..25da657 100644
--- a/README.md
+++ b/README.md
@@ -23,9 +23,9 @@ We provide a set of pre-implemented deep-learning based SLAM algorithms.
 
 **Replica/office0**
 
-| [nice-slam](https://github.com/cvg/nice-slam)                | [co-slam](https://github.com/HengyiWang/Co-SLAM)             | [Vox-Fusion](https://github.com/zju3dv/Vox-Fusion)           | [Point_SLAM](https://github.com/eriksandstroem/Point-SLAM)   | [splaTAM](https://github.com/spla-tam/SplaTAM)               | [DPVO](https://github.com/princeton-vl/DPVO)                 |
-| :----------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ |
-| <img src="./docs/imgs/nice_slam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/co_slam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/vox_fusion.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/point_slam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/splatam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/dpvo.gif" alt="dpvo" style="zoom: 50%;" /> |
+| [nice-slam](https://github.com/cvg/nice-slam)                | [co-slam](https://github.com/HengyiWang/Co-SLAM)             | [Vox-Fusion](https://github.com/zju3dv/Vox-Fusion)           | [Point_SLAM](https://github.com/eriksandstroem/Point-SLAM)   | [splaTAM](https://github.com/spla-tam/SplaTAM)               | [DPVO](https://github.com/princeton-vl/DPVO)                 | [NeuralRecon](https://github.com/zju3dv/NeuralRecon)         |
+| :----------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ |
+| <img src="./docs/imgs/nice_slam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/co_slam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/vox_fusion.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/point_slam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/splatam.gif" alt="nice-slam" style="zoom: 50%;" /> | <img src="./docs/imgs/dpvo.gif" alt="dpvo" style="zoom: 50%;" /> | <img src="./docs/imgs/neural_recon.gif" alt="neural_recon" style="zoom: 50%;" /> |
 
 ## Quickstart
 
@@ -144,7 +144,7 @@ usage: ds-viewer [-h] [--config.vis-dir PATH] [--config.save-rendering {True,Fal
 
 - --config.algorithm-name
 
-  NOTE: When use splaTAM or DPVO, algorithm name should be set. (default: None)
+  NOTE: When use splaTAM or DPVO or NeuralRecon, algorithm name should be set. (default: None)
 
 #### ds-eval
 
@@ -180,7 +180,7 @@ Here are the comparison results on **Replica** datasets. The results of the orig
 
 The algorithms with _X suffix are the corresponding algorithms in the XRDSLAM framework. For details, see [benchmark](docs/benchmark.md).
 
-(DPVO is a visual odometry (VO) algorithm that does not generate meshes, and  DPVO paper does not provide results for the Replica datasets. Therefore, here we only present the trajectory metrics from  XRDSLAM framework.  The comparison results of DPVO for the Euroc dataset can be found in the [benchmark](docs/benchmark.md).)
+(DPVO is a visual odometry (VO) algorithm that does not generate meshes, and  DPVO paper does not provide results for the Replica datasets. Therefore, here we only present the trajectory metrics from  XRDSLAM framework.  The comparison results of DPVO for the Euroc dataset can be found in the [benchmark](docs/benchmark.md). NeuralRecon is a mapping algorithm, and  NeuralRecon paper does not provide results for the Replica datasets. Therefore, here we only present the mesh metrics from  XRDSLAM framework.  The comparison results of NeuralRecon for the 7Scenes dataset can be found in the [benchmark](docs/benchmark.md).)
 
 Note: The default configuration in the algorithm is suitable for Replica. If you use other datasets, you need to modify the corresponding configuration items in slam/configs/input_config.py.
 
@@ -197,6 +197,7 @@ Note: The default configuration in the algorithm is suitable for Replica. If you
 | SplaTAM      | 0.36                | 34.11 | 0.97  | 0.10   | -               | -            | -       | -              | -              | -              | -                      |
 | SplaTAM_X    | 0.40                | 34.44 | 0.96  | 0.09   | -               | -            | -       | -              | -              | -              | -                      |
 | DPVO_X | 0.31 | - | - | - | - | - | - | - | - | - | - |
+| NeuralRecon_X | - | - | - | - | 13.29 | 7.43 | 9.51 | - | 5.87 | 19.36 | 38.13 |
 
 ## License
 
diff --git a/docs/benchmark.md b/docs/benchmark.md
index 3bca56c..92367bd 100644
--- a/docs/benchmark.md
+++ b/docs/benchmark.md
@@ -61,6 +61,8 @@ A single Replica dataset has a total of 2000 frames, rendering is performed ever
 
 ## 3D metrics
 
+Note:  When evaluating 3D metrics, the default value of distance_thresh is 0.01. However, for NeuralRecon, the default value of distance_thresh is 0.05. Therefore, 3D metrics are provided under these two threshold values respectively.
+
 | Algorithm       | Metric                | Room0 | Room1 | Room2 | Office0 | Office1 | Office2 | Office3 | Office4 | Average |
 | ------------ | --------------------- | ----- | ----- | ----- | ------- | ------- | ------- | ------- | ------- | ------- |
 | NICE-SLAM    | Depth L1[cm] -        | 1.81  | 1.44  | 2.04  | 1.39    | 1.76    | 8.33    | 4.99    | 2.01    | 2.97    |
@@ -114,6 +116,18 @@ A single Replica dataset has a total of 2000 frames, rendering is performed ever
 |              | Acc. [cm]-            | 1.45  | 1.14  | 1.20  | 1.04    | 0.85    | 1.32    | 1.56    | 1.48    | 1.25    |
 |              | Comp. [cm]-           | 3.62  | 3.07  | 3.01  | 1.69    | 2.37    | 3.66    | 3.53    | 4.02    | 3.12    |
 |              | Comp. Ratio[<5cm %] + | 87.60 | 89.13 | 89.43 | 93.00   | 89.42   | 85.85   | 85.56   | 85.23   | 88.15   |
+| NeuralRecon_X | Precision [%] + | 13.06 | 10.91 | 13.53 | 13.64 | 16.73 | 17.85 | 10.98 | 9.67 | 13.29 |
+|  | Recall [%] + | 6.48 | 6.63 | 8.44 | 8.86 | 9.09 | 9.71 | 5.29 | 5.01 | 7.43 |
+| | F1[%] + | 8.66 | 8.25 | 10.40 | 10.74 | 11.78 | 12.57 | 7.13 | 6.60 | 9.51 |
+| | Acc. [cm]- | 5.47 | 6.24 | 6.31 | 5.25 | 3.60 | 6.06 | 7.05 | 7.00 | 5.87 |
+| | Comp. [cm]- | 24.02 | 13.70 | 20.03 | 10.69 | 11.48 | 25.13 | 28.52 | 21.38 | 19.36 |
+| | Comp. Ratio[<5cm %] + | 34.26 | 39.52 | 40.36 | 51.55 | 45.00 | 35.44 | 30.63 | 28.29 | 38.13 |
+| NeuralRecon_X | Precision [%] + | 66.12 | 57.03 | 59.09 | 69.01 | 73.34 | 63.89 | 60.87 | 50.10 | 62.43 |
+| distance_thresh=0.05 | Recall [%] + | 35.06 | 40.10 | 40.98 | 51.96 | 45.14 | 35.88 | 31.72 | 29.15 | 38.74 |
+| | F1[%] + | 45.82 | 47.09 | 48.40 | 59.29 | 55.88 | 45.95 | 41.71 | 36.86 | 47.62 |
+| | Acc. [cm]- | 5.47 | 6.23 | 6.30 | 5.19 | 3.60 | 6.07 | 7.08 | 7.03 | 5.87 |
+| | Comp. [cm]- | 24.11 | 13.76 | 19.88 | 10.71 | 11.56 | 25.21 | 28.43 | 21.45 | 19.38 |
+| | Comp. Ratio[<5cm %] + | 34.28 | 39.42 | 40.52 | 51.48 | 44.86 | 35.39 | 30.76 | 28.29 | 38.12 |
 
 # Euroc
 
@@ -125,3 +139,23 @@ Note: DPVO run with monocular data and requires scale correction during trajecto
 | ----------------------- | ---- | ---- | ---- | ---- | ---- | ---- | ---- | ---- | ---- | ---- | ---- | ------- |
 | DPVO                    | 8.7  | 5.5  | 15.8 | 13.7 | 11.4 | 5.0  | 14.0 | 8.6  | 5.7  | 4.9  | 21.1 | 10.5    |
 | DPVO_X                  | 10.0 | 7.4  | 11.8 | 15.2 | 8.7  | 9.4  | 15.9 | 10.2 | 6.6  | 6.4  | 12.3 | 10.4    |
+
+# 7-Scenes
+
+## 3D metrics
+
+Note:  The distance_thresh is 0.05 for both NeuralRecon_X and NeuralRecon.
+
+The original paper didn't offer individual dataset results. Hence, only XRDSLAM results per dataset are provided here. Also, due to the absence of default parameters for 7-Scenes in the original code, there are minor discrepancies between the results of NeuralRecon_X and the original NeuralRecon.
+
+| Algorithm     | Precision [%] + | Recall [%] + | F1[%] + | Acc. [cm]- | Comp. [cm]- |
+| ------------- | --------------- | ------------ | ------- | ---------- | ----------- |
+| NeuralRecon   | 38.9            | 22.7         | 28.2    | 10.0       | 22.8        |
+| NeuralRecon_X | 37.51           | 21.24        | 26.55   | 14.23      | 32.21       |
+
+| Method        | Metric          | chess-seq-03 | chess-seq-05 | fire-seq-03 | fire-seq-04 | heads-seq-01 | office-seq-02 | office-seq-06 | office-seq-07 | office-seq-09 | pumpkin-seq-01 | pumpkin-seq-07 | redkitchen-seq-03 | redkitchen-seq-04 | redkitchen-seq-06 | stairs-seq-01 | stairs-seq-04 | Average |
+| ------------- | --------------- | ------------ | ------------ | ----------- | ----------- | ------------ | ------------- | ------------- | ------------- | ------------- | -------------- | -------------- | ----------------- | ----------------- | ----------------- | ------------- | ------------- | ------- |
+| NeuralRecon_X | Precision [%] + | 48.37        | 36.21        | 40.08       | 47.90       | 51.00        | 26.64         | 24.83         | 31.73         | 42.93         | 39.97          | 26.39          | 24.93             | 44.30             | 35.07             | 40.95         | 38.87         | 37.51   |
+|               | Recall [%] +    | 30.98        | 27.37        | 31.88       | 30.45       | 24.57        | 18.24         | 25.93         | 22.37         | 26.35         | 17.91          | 11.78          | 9.34              | 19.80             | 16.49             | 15.32         | 11.15         | 21.24   |
+|               | F1[%] +         | 37.77        | 31.18        | 35.51       | 37.24       | 33.16        | 21.65         | 25.37         | 26.24         | 32.66         | 24.74          | 16.29          | 13.59             | 27.37             | 22.43             | 22.30         | 17.31         | 26.55   |
+|               | Acc. [cm]-      | 7.68         | 8.97         | 8.88        | 7.56        | 9.74         | 25.26         | 23.20         | 12.90         | 8.82          | 13.71          | 26.97          | 25.95             | 11.24             | 10.97             | 16.01         | 9.96          | 14.23   |
diff --git a/docs/imgs/neural_recon.gif b/docs/imgs/neural_recon.gif
new file mode 100644
index 0000000..e846ac8
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