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We present VGGT-SLAM, a dense RGB SLAM system constructed by incrementally and globally aligning submaps created from the feed-forward scene reconstruction approach VGGT using only uncalibrated monocular cameras.
Kimera: an open-source library for real-time metric-semantic localization and mapping
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R. Hartley and A. Zisserman · 2000
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Systems and experiment paper: Construction of panoramic image mosaics with global and local alignment
Heung-Yeung Shum and Richard Szeliski · 2000
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Multiple View Geometry in Computer Vision
R. I. Hartley and A. Zisserman · 2004
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Distinctive image features from scale-invariant keypoints
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Randomized RANSAC with sequential probability ratio test
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C. Mei, S. Benhimane, E. Malis, and P. Rives · 2006
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Homography-based tracking for central catadioptric cameras
C. Mei, S. Benhimane, E. Malis, and P. Rives · 2006
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3d reconstruction of complex structures with bundle adjustment: an incremental approach
E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser, and P. Sayd · 2006
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Accurate multi-view reconstruction using robust binocular stereo and surface meshing
D. Bradley, T. Boubekeur, and W. Heidrich · 2008
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Efficient homography-based tracking and 3-D reconstruction for single-viewpoint sensors
C. Mei, S. Benhimane, E. Malis, and P. Rives · 2008
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A tutorial on se(3) transformation parameterizations and on-manifold optimization
Jose Luis Blanco · 2010
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Towards internet-scale multi-view stereo
Y. Furukawa, B. Curless, S. M. Seitz, and R. Szeliski · 2010
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A tutorial on graph-based SLAM
Giorgio Grisetti, Rainer Kümmerle, Cyrill Stachniss, and Wolfram Burgard · 2010
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Real-time spherical mosaicing using whole image alignment
Steven Lovegrove and Andrew J Davison · 2010
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Tarek Hamel, Robert Mahony, Jochen Trumpf, Pascal Morin, and Minh-Duc Hua · 2011
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The Weiszfeld Algorithm: Proof, Amendments, and Extensions
Frank Plastria · 2011
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Factor graphs and GTSAM: A hands-on introduction
Frank Dellaert · 2012
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Parametric dense visual SLAM
Steven Lovegrove · 2012
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An incremental trust-region method for robust online sparse least-squares estimation
D.M. Rosen, M. Kaess, and J.J. Leonard · 2012
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A benchmark for the evaluation of RGB-D SLAM systems
Jürgen Sturm, Nikolas Engelhard, Felix Endres, Wolfram Burgard, and Daniel Cremers · 2012
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Lie groups for 2D and 3D transformations
Ethan Eade · 2013
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Scene coordinate regression forests for camera relocalization in rgb-d images
J. Shotton, B. Glocker, C. Zach, S. Izadi, A. Criminisi, and A. Fitzgibbon · 2013
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Kimera2: Robust and accurate metric-semantic SLAM in the real world
M. Abate, Y. Chang, N. Hughes, and L. Carlone · 2023
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Accelerated coordinate encoding: Learning to relocalize in minutes using rgb and poses
Eric Brachmann, Tommaso Cavallari, and Victor Adrian Prisacariu · 2023
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3d gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 2023
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Dinov2: Learning robust visual features without supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, et al · 2023
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GO-SLAM: Global optimization for consistent 3D instant reconstruction
Youmin Zhang, Fabio Tosi, Stefano Mattoccia, and Matteo Poggi · 2023
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Revisiting the PnP problem: A fast, general and optimal solution
Yinqiang Zheng, Yubin Kuang, Shigeki Sugimoto, Kalle Astrom, and Masatoshi Okutomi · 2013
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A general and simple method for camera pose and focal length determination
Yinqiang Zheng, Shigeki Sugimoto, Imari Sato, and Masatoshi Okutomi · 2014
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Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age
C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, and J.J. Leonard · 2016
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Structure-from-motion revisited
Johannes L Schonberger and Jan-Michael Frahm · 2016
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Pixelwise view selection for unstructured multi-view stereo
Johannes L Schönberger, Enliang Zheng, Jan-Michael Frahm, and Marc Pollefeys · 2016
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ElasticFusion: Real-Time Dense SLAM and Light Source Estimation
T. Whelan, R.F. Salas-Moreno, B. Glocker, A. J. Davison, and S. Leutenegger · 2016
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Zequn Chen, Jiezhi Yang, and Heng Yang · 2024
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Siyan Dong, Shuzhe Wang, Shaohui Liu, Lulu Cai, Qingnan Fan, Juho Kannala, and Yanchao Yang · 2024
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MASt3R-SfM: a Fully-Integrated Solution for Unconstrained Structure-from-Motion
Bardienus Duisterhof, Lojze Zust, Philippe Weinzaepfel, Vincent Leroy, Yohann Cabon, and Jerome Revaud · 2024
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Present and future of SLAM in extreme underground environments
K. Ebadi, L. Bernreiter, H. Biggie, G. Catt, Y. Chang, A. Chatterjee, C.E. Denniston, S-P. Deschênes, K. Harlow, S. Khattak, L. Nogueira, M. Palieri, P. Petrác̆ek, P. Petrlík, A. Reinke, V. Krátký, S. Zhao, A. Agha-mohammadi, K. Alexis, C. Heckman, K. Khosoussi, N. Kottege, B. Morrell, M. Hutter, F. Pauling, F. Pomerleau, M. Saska, S. Scherer, R. Siegwart, J.L. Williams, and L. Carlone · 2024
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Optimal transport aggregation for visual place recognition
Sergio Izquierdo and Javier Civera · 2024
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Quatro++: Robust global registration exploiting ground segmentation for loop closing in LiDAR SLAM
Hyungtae Lim, Beomsoo Kim, Daebeom Kim, Eungchang Mason Lee, and Hyun Myung · 2024
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Deep patch visual SLAM
Lahav Lipson, Zachary Teed, and Jia Deng · 2024
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Clio: Real-time task-driven open-set 3D scene graphs
D. Maggio, Y. Chang, N. Hughes, M. Trang, D. Griffith, C. Dougherty, E. Cristofalo, L. Schmid, and L. Carlone · 2024
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Gaussian splatting SLAM
Hidenobu Matsuki, Riku Murai, Paul HJ Kelly, and Andrew J Davison · 2024
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MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors
Riku Murai, Eric Dexheimer, and Andrew J Davison · 2024
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Global Structure-from-Motion Revisited
Linfei Pan, Daniel Barath, Marc Pollefeys, and Johannes Lutz Schönberger · 2024
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Splatt3R: Zero-shot gaussian splatting from uncalibrated image pairs
Brandon Smart, Chuanxia Zheng, Iro Laina, and Victor Adrian Prisacariu · 2024
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GeoCalib: Learning Single-image Calibration with Geometric Optimization
Alexander Veicht, Paul-Edouard Sarlin, Philipp Lindenberger, and Marc Pollefeys · 2024
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3D reconstruction with spatial memory
Hengyi Wang and Lourdes Agapito · 2024
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DUST3R: Geometric 3D vision made easy
Shuzhe Wang, Vincent Leroy, Yohann Cabon, Boris Chidlovskii, and Jerome Revaud · 2024
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GS-SLAM: Dense visual slam with 3d gaussian splatting
Chi Yan, Delin Qu, Dan Xu, Bin Zhao, Zhigang Wang, Dong Wang, and Xuelong Li · 2024
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Sim-sync: From certifiably optimal synchronization over the 3D similarity group to scene reconstruction with learned depth
Xihang Yu and Heng Yang · 2024
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NICER-SLAM: Neural implicit scene encoding for RGB SLAM
Zihan Zhu, Songyou Peng, Viktor Larsson, Zhaopeng Cui, Martin R Oswald, Andreas Geiger, and Marc Pollefeys · 2024
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Pow3R: Empowering Unconstrained 3D Reconstruction with Camera and Scene Priors
Wonbong Jang, Philippe Weinzaepfel, Vincent Leroy, Lourdes Agapito, and Jerome Revaud · 2025
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VGGT: Visual geometry grounded transformer
Jianyuan Wang, Minghao Chen, Nikita Karaev, Andrea Vedaldi, Christian Rupprecht, and David Novotny · 2025
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Continuous 3D Perception Model with Persistent State
Qianqian Wang, Yifei Zhang, Aleksander Holynski, Alexei A Efros, and Angjoo Kanazawa · 2025
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