arXiv Computer Vision
NSL-SLAM: High-Fidelity Neural Structured-Light Depth for Practical SLAM and Reconstruction
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arXiv Computer Vision
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AMB3R-SLAM: Kilometer-scale SLAM with Hierarchical Backend
AMB3R‑SLAM is a real‑time monocular SLAM system that can reconstruct kilometer‑scale trajectories over 10,000 frames on a single consumer‑grade GPU. It combines a lightweight front‑end for low‑latency tracking with a hierarchical backend that enforces local, mid‑level, and global consistency, avoiding bundle adjustment and thus handling dynamic scenes naturally. The system also supports stereo, RGB‑D, and LiDAR inputs, achieving strong camera tracking performance and reducing absolute trajectory error by over 70% on several datasets, with sub‑meter accuracy when LiDAR is added.