Reproduce “Scale Anchoring via Implicit Semantics and Sequence-Consistent Loop Closure for VGGT-Based SLAM” on OpenResearch
Turn your favorite coding agents into research agents that review literature, develop hypotheses, and run experiments.
Universal app for Apple silicon and Intel. Requires macOS 11 or later.
About this paper
Ziyi Jin, Kangjin Yu, Beichen Wang, Can Jiang, Zhongpu Xia, Jie Xu
The authors extend monocular SLAM with a fixed-root, relative-scale anchor for new submaps, retaining overlap links and checking loop candidates with neighboring views. Accepted loops add one direct pose connection. On nine TUM RGB-D sequences, mean position ATE RMSE falls from 0.1018 m to 0.0451 m versus VGGT-SLAM 2.0 under the shared 16-keyframe-submap protocol, with improvement on eight sequences.
Summary by alphaXiv.
Tip: change arxiv.org to autoarxiv.org in any arXiv abstract link to open the paper here.