← 研踪 PaperTrailarXiv:2611.11169 · v1
Map2SLAM: From Streaming Map Prediction to Real-Time SLAM
首次提交 2026-11-08 14:16
版本更新 2026-11-08 14:16
雷达观测 2026-11-10 12:16
摘要
Streaming 3D foundation models (3DFMs) estimate camera poses and dense geometry online, but they fall short of SLAM: their predictions are fixed once emitted, so loop closures cannot correct accumulated drift. With such models already providing strong geometric capability, a central question for SLAM becomes how to schedule their inference and how to keep its results as revisable state. We present Map2SLAM, which keeps LingBot-Map frozen, trains only a lightweight retrieval head, and builds SLAM on the model's inference interface, turning its predictions into observations of an external persistent SLAM state. The front-end tracks every incoming frame with the model's causal streaming inference and decides which frames are written to the persistent state as keyframes. The back-end asynchronously decides when and which past frames to re-observe, re-running the model's joint inference over them with fresh context; verified loop observations correct the trajectory online, and segment observations refine dense geometry after the sequence. All invocations share a single frame encoder pass per image, whose cached features also drive loop retrieval, so frequent re-invocation incurs no additional encoding cost. Map2SLAM achieves state-of-the-art performance on KITTI, VBR, and Oxford Spires, reducing mean ATE by over 40% compared with the best uncalibrated baselines, while maintaining real-time tracking at over 28 FPS at a resolution of $518\times154$ on an NVIDIA RTX 5090D GPU. Please visit our project page at https://robbyant-research.github.io/Map2SLAM/.
作者备注：17 pages, 10 figures. Project page: https://robbyant-research.github.io/Map2SLAM/
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v1 · 2026-11-08 14:16 · 最新观测版本
Map2SLAM: From Streaming Map Prediction to Real-Time SLAM
Streaming 3D foundation models (3DFMs) estimate camera poses and dense geometry online, but they fall short of SLAM: their predictions are fixed once emitted, so loop closures cannot correct accumulated drift. With such models already providing strong geometric capability, a central question for SLAM becomes how to schedule their inference and how to keep its results as revisable state. We present Map2SLAM, which keeps LingBot-Map frozen, trains only a lightweight retrieval head, and builds SLAM on the model's inference interface, turning its predictions into observations of an external persistent SLAM state. The front-end tracks every incoming frame with the model's causal streaming inference and decides which frames are written to the persistent state as keyframes. The back-end asynchronously decides when and which past frames to re-observe, re-running the model's joint inference over them with fresh context; verified loop observations correct the trajectory online, and segment observations refine dense geometry after the sequence. All invocations share a single frame encoder pass per image, whose cached features also drive loop retrieval, so frequent re-invocation incurs no additional encoding cost. Map2SLAM achieves state-of-the-art performance on KITTI, VBR, and Oxford Spires, reducing mean ATE by over 40% compared with the best uncalibrated baselines, while maintaining real-time tracking at over 28 FPS at a resolution of $518\times154$ on an NVIDIA RTX 5090D GPU. Please visit our project page at https://robbyant-research.github.io/Map2SLAM/.
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