Outdoor robot teams need a shared dense map despite limited overlap, independent reference frames, and uncertain monocular scale. Collaborative dense SLAM systems typically resolve this with depth sensors, which add payload, power, and calibration cost. We present CoMo3R-SLAM, a collaborative monocular dense SLAM system that places learned feed-forward 3D reconstruction priors at the center of the multi-agent problem: their dense pointmaps anchor scale across agents and supply correspondences strong enough to verify inter-agent links geometrically. Each agent tracks and fuses its own keyframes from a single RGB stream, while a coordinator retrieves cross-agent keyframes over the prior's encoder features, verifies them by bidirectional dense pointmap matching, synchronizes the independent similarity gauges in closed form, and refines every keyframe in one unified multi-agent sim(3) graph. Finally, a pose-depth alternation over geometry-aware segments lets inter-agent observations constrain dense structure as well as trajectories. Requiring neither measured depth nor supplied intrinsics, CoMo3R-SLAM attains the lowest trajectory error on three of four Tanks and Temples scenes, and competitive accuracy on Waymo driving sequences, while running at approximately 6-8 FPS on RTX 3080 Ti. A long-horizon traversal, independently captured day and night streams, and teams of up to four agents further map its operating range.
Haosen Wang, Jing Xiao, Chaochao Du, Xiaowang Zhang Tianjin University, China, Zhiyong Feng Tianjin University
Document Visual Question Answering (DocVQA) aims to generate answers by jointly understanding the textual, layout, and visual elements within document images. Although end-to-end vision-based generative methods have reduced dependency on OCR, they still struggle to achieve precise evidence localization when page semantics are complex and highly similar. However, existing research lacks an in-depth theoretical analysis of the question-driven semantic representation space, failing to fundamentally address the distinguishability problem among semantically similar pages. To fill this theoretical gap, we propose and prove that, given a specific question, each page possesses a unique semantic representation, and there exists a bijective mapping between the page and its unique semantics. Based on this theoretical foundation, we introduce the Flow-Based Page Unique Semantic Mapping Architecture (FUMA), which reconstructs evidence localization from similarity-based retrieval into precise selection on unique semantics. FUMA employs fine-grained cross-modal attention to extract discriminative cues and utilizes flow-based reversible transformations with likelihood regularization to learn bijective mappings, ensuring that each page obtains a unique semantic representation. Moreover, a multi-expert collaboration mechanism complementarily models fine-grained multimodal information within each page, achieving robust answer generation. Experimental results demonstrate that FUMA significantly outperforms existing methods in both evidence localization and answer generation.
尚无 AI 解读，展示原文摘要
cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表