PRISM-SLAM adds a Plücker Ray-Distance Factor and dynamic uncertainty gating to a VFM-augmented factor graph to deliver scale-consistent metric SLAM at 30 FPS from monocular RGB.
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PRISM-SLAM: Probabilistic Ray-Grounded Inference for Scale-aware Metric SLAM
PRISM-SLAM adds a Plücker Ray-Distance Factor and dynamic uncertainty gating to a VFM-augmented factor graph to deliver scale-consistent metric SLAM at 30 FPS from monocular RGB.