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About this paper
Christopher Kolios, Ishaan Mehta, Sasa Janjic, Yeganeh Bahoo, Sajad Saeedi
Pow3R-SLAM adapts two-view 3D reconstruction to RGB-D SLAM by using measured depth to condition pointmap prediction, set metric scale, and anchor keyframe geometry during optimization. On 24 sequences, mean keyframe trajectory error falls from 0.0304 meters to 0.0257 meters under scale alignment. Sparse depth helps, while dense incorrect depth remains difficult, and results do not improve on every scene.
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