ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM
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Source: arXiv cs.ROPublish time unverified
arXiv:2606.00307v2 Announce Type: replace Abstract: Recent works have explored unifying SLAM with geometric foundation models (GFMs). However, directly using GFM predictions for tracking is highly sensitive to model capability and uncertainty, as geometric inaccuracies in the predictions can adversely affect pose estimation.