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Check out the Neural Graph Mapping for Dense SLAM with Efficient Loop Closure paper by Leonard Bruns, Jun Zhang, and Patric Jensfelt, visualized with Rerun. “Existing neural field-based SLAM methods typically employ a single monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and... show more

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12,861 views • 2 years ago •via X (Twitter)

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This seemingly obvious prediction didn't take long to become reality. MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors Contributions: • The first real-time SLAM system using the two-view 3D reconstruction prior MASt3R [20] as a foundation. • Efficient techniques for pointmap matching, tracking and local fusion, graph construction and loop closure, and second-order global optimization. • A state-of-the-art dense SLAM system capable of handling generic, time-varying camera models. Abstract: We present a real-time monocular dense SLAM system, designed from the ground up using MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system remains robust on in-the-wild video sequences, making no assumptions on a fixed or parametric camera model beyond a unique camera center. Key features include: - Efficient methods for pointmap matching, camera tracking, and local fusion - Graph construction and loop closure - Second-order global optimization With known calibration, a simple modification achieves state-of-the-art performance across various benchmarks. Altogether, we propose a plug-and-play monocular SLAM system capable of producing globally-consistent poses and dense geometry while operating at 15 FPS.

This seemingly obvious prediction didn't take long to become reality. MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors Contributions: • The first real-time SLAM system using the two-view 3D reconstruction prior MASt3R [20] as a foundation. • Efficient techniques for pointmap matching, tracking and local fusion, graph construction and loop closure, and second-order global optimization. • A state-of-the-art dense SLAM system capable of handling generic, time-varying camera models. Abstract: We present a real-time monocular dense SLAM system, designed from the ground up using MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system remains robust on in-the-wild video sequences, making no assumptions on a fixed or parametric camera model beyond a unique camera center. Key features include: - Efficient methods for pointmap matching, camera tracking, and local fusion - Graph construction and loop closure - Second-order global optimization With known calibration, a simple modification achieves state-of-the-art performance across various benchmarks. Altogether, we propose a plug-and-play monocular SLAM system capable of producing globally-consistent poses and dense geometry while operating at 15 FPS.

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"near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence [...] a Neural Object Field that is learned concurrently with a pose graph optimization process in order to robustly accumulate information into a consistent 3D representation"

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vMAP: Vectorised Object Mapping for Neural Field SLAM, new at #CVPR2023! Each object is represented by a separate MLP, optimised in parallel via vectorised training. Full info: Dyson Robotics Lab, Imperial College, Shikun Liu, Marwan Taher, Andrew Davison.

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MAGS-SLAM: Monocular Multi-Agent Gaussian Splatting SLAM for Geometrically and Photometrically Consistent Reconstruction TL;DR: The first RGB-only multi-agent 3D Gaussian Splatting SLAM for collaborative photorealistic scene reconstruction. Contributions: (1) We propose the first monocular RGB-only multi-agent 3D Gaussian Splatting SLAM system. It integrates Gaussian front-ends, compact submap summaries, inter-agent verification, Sim(3) submap pose graph, and occupancy-aware fusion into a unified framework, achieving accurate tracking and photorealistic reconstruction without depth sensors. (2) We propose a Pose-Graph Bundle Adjustment (PGBA)-consistent Sim(3) loop closure mechanism for multi-agent systems, which jointly resolves intra- and inter-agent scale drift through a submap-level Sim(3) pose graph coupling geometric and photometric residuals. Robustness is ensured by a spatial-extent gate that rejects degenerate loops and an adaptive edge invalidation scheme consistent with evolving PGBA corrections. (3) We propose an occupancy-aware fusion framework for coherent multi-agent Gaussian maps. It combines occupancy-grid deduplication, decoupled coordinator, and joint pose-Gaussian photometric refinement to eliminate duplicated Gaussians, residual misalignment, and photometric seams across agents. (4) We introduce ReplicaMultiagent Plus dataset. While existing multi-agent datasets are typically limited to 2-3 agents with short trajectories, our dataset scales to 4 agents with long-horizon trajectories. In addition, we provide ground-truth geometry and semantic annotations, supporting the evaluation of monocular, RGB-D, and semantic multi-agent SLAM for collaborative dense reconstruction.

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19,072 views • 26 days ago

🚀 Excited to attend my first #NeurIPS2025 and present our lighting-aware SLAM method, NFL-BA! 🔗 🔦 Why this matters: Traditional Bundle Adjustment (BA) in SLAM assumes static lighting, but many real scenarios—endoscopy, search & rescue, subterranean robotics—use co-located light + camera, creating dynamic, near-field lighting that breaks these assumptions. ✨ What we introduce: Near-Field Lighting Bundle Adjustment Loss (NFL-BA) — a formulation that explicitly models near-field illumination inside the BA objective, allowing SLAM systems to jointly reason about geometry, appearance, and lighting. 📈 Results: Modeling lighting directly leads to ~38% improvement in mapping & tracking across dynamic-lighting sequences in both endoscopy and indoor scenes. 🧩 Plug-and-play: NFL-BA integrates seamlessly into existing neural rendering–based SLAM pipelines, using both implicit (NeRF-style) or explicit (3DGS) scene representations. 🌟 If you’re interested in SLAM, neural rendering, or illumination modeling, come check it out on Friday's poster session, 11-2pm, #4407.

🚀 Excited to attend my first #NeurIPS2025 and present our lighting-aware SLAM method, NFL-BA! 🔗 🔦 Why this matters: Traditional Bundle Adjustment (BA) in SLAM assumes static lighting, but many real scenarios—endoscopy, search & rescue, subterranean robotics—use co-located light + camera, creating dynamic, near-field lighting that breaks these assumptions. ✨ What we introduce: Near-Field Lighting Bundle Adjustment Loss (NFL-BA) — a formulation that explicitly models near-field illumination inside the BA objective, allowing SLAM systems to jointly reason about geometry, appearance, and lighting. 📈 Results: Modeling lighting directly leads to ~38% improvement in mapping & tracking across dynamic-lighting sequences in both endoscopy and indoor scenes. 🧩 Plug-and-play: NFL-BA integrates seamlessly into existing neural rendering–based SLAM pipelines, using both implicit (NeRF-style) or explicit (3DGS) scene representations. 🌟 If you’re interested in SLAM, neural rendering, or illumination modeling, come check it out on Friday's poster session, 11-2pm, #4407.

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