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Introducing MASt3R-SLAM, the first real-time monocular dense SLAM with MASt3R as a foundation. Easy to use like DUSt3R/MASt3R, from an uncalibrated RGB video it recovers accurate, globally consistent poses & a dense map. With Eric Dexheimer, Andrew Davison (Equal Contribution)

Riku Murai

1,164 subscribers

203,742 views • 1 year ago •via X (Twitter)

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10 Comments

Riku Murai1 year ago

We use MASt3R's two-view prior as our only network with no fine-tuning. By leveraging this 3D prior and making minimal assumptions on the camera model, we can handle dynamically changing zoom. Efficient test-time optimisation and loop closure enable large-scale consistency.

Riku Murai1 year ago

For robustness, MASt3R-SLAM performs relocalisation allowing it to handle the kidnapped robot problem. As a purely monocular SLAM, it loses track when the camera’s view is obstructed, but as soon as the view is unblocked, it immediately relocalises and resumes mapping.

Riku Murai1 year ago

For more please visit: Website: Video:

Nikhil Keetha1 year ago

@eric_dexheimer @AjdDavison Hey @rmurai0610 @eric_dexheimer, very cool modeling of the backend with a generic camera model! When do you guys plan to release the code?

Riku Murai1 year ago

@eric_dexheimer @AjdDavison Thanks Nikhil! We're planning on releasing the code early next year

Kentaro Wada1 year ago

@eric_dexheimer @AjdDavison Is this also the first time where we can virtually see the entire DRL office? haha Congrats on the amazing results!

Riku Murai1 year ago

@eric_dexheimer @AjdDavison Thank you! And yeah probably the first time we’ve managed to reconstruct the entire lab

tian/天1 year ago

@eric_dexheimer @AjdDavison do you plan to share the source code?

Riku Murai1 year ago

@eric_dexheimer @AjdDavison Yes, we're planning on releasing the code early next year

Max1 year ago

@eric_dexheimer @AjdDavison Idiot here 🤚 What sort of computer is required to run this? Can it be done real time?

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217,453 views • 11 months ago

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