{"id":"https://openalex.org/W7138275913","doi":"https://doi.org/10.1609/aaai.v40i13.38061","title":"FoundationSLAM: Unleashing the Power of Depth Foundation Models for End-to-End Dense Visual SLAM","display_name":"FoundationSLAM: Unleashing the Power of Depth Foundation Models for End-to-End Dense Visual SLAM","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7138275913","doi":"https://doi.org/10.1609/aaai.v40i13.38061"},"language":null,"primary_location":{"id":"doi:10.1609/aaai.v40i13.38061","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i13.38061","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1609/aaai.v40i13.38061","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129692351","display_name":"Yuchen Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuchen Wu","raw_affiliation_strings":["School of Computer Science and Engineering, State Key Laboratory of Complex Critical Software Environment, Jiangxi Research Institute, Beihang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, State Key Laboratory of Complex Critical Software Environment, Jiangxi Research Institute, Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129671016","display_name":"Jiahe Li","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahe Li","raw_affiliation_strings":["School of Computer Science and Engineering, State Key Laboratory of Complex Critical Software Environment, Jiangxi Research Institute, Beihang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, State Key Laboratory of Complex Critical Software Environment, Jiangxi Research Institute, Beihang University","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129685218","display_name":"Fabio Tosi","orcid":null},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Tosi","raw_affiliation_strings":["University of Bologna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bologna","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129682558","display_name":"Matteo Poggi","orcid":null},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Poggi","raw_affiliation_strings":["University of Bologna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bologna","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129668330","display_name":"Jin Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Zheng","raw_affiliation_strings":["School of Computer Science and Engineering, State Key Laboratory of Complex Critical Software Environment, Jiangxi Research Institute, Beihang University\nState Key Laboratory of Virtual Reality Technology and Systems, Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, State Key Laboratory of Complex Critical Software Environment, Jiangxi Research Institute, Beihang University\nState Key Laboratory of Virtual Reality Technology and Systems, Beijing","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129727427","display_name":"Xiao Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Bai","raw_affiliation_strings":["School of Computer Science and Engineering, State Key Laboratory of Complex Critical Software Environment, Jiangxi Research Institute, Beihang University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, State Key Laboratory of Complex Critical Software Environment, Jiangxi Research Institute, Beihang University","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5129692351"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20812183,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"13","first_page":"10853","last_page":"10861"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4413999915122986,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4413999915122986,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.31200000643730164,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.061500001698732376,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5764999985694885},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5479999780654907},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5152999758720398},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5103999972343445},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.49779999256134033},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.47429999709129333},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4458000063896179},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4083999991416931},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.37369999289512634}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7249000072479248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6435999870300293},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5764999985694885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5587000250816345},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5479999780654907},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5152999758720398},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5103999972343445},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.49779999256134033},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.47429999709129333},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4458000063896179},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4083999991416931},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.37369999289512634},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3208000063896179},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.3140999972820282},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.31349998712539673},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28349998593330383},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.2662999927997589},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.2581999897956848},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/aaai.v40i13.38061","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i13.38061","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/aaai.v40i13.38061","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i13.38061","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"FoundationSLAM,":[2],"a":[3,52,75,93,112],"learning-based":[4],"monocular":[5],"dense":[6,130],"SLAM":[7],"system":[8],"that":[9,56,80,97,123],"addresses":[10],"the":[11,40,100],"absence":[12],"of":[13,153],"geometric":[14,36],"consistency":[15],"in":[16,139],"previous":[17],"flow-based":[18],"approaches":[19],"for":[20],"accurate":[21],"and":[22,25,63,85,108,118,129,150],"robust":[23],"tracking":[24],"mapping.":[26],"Our":[27],"core":[28],"idea":[29],"is":[30],"to":[31,147],"bridge":[32],"flow":[33,101],"estimation":[34],"with":[35],"reasoning":[37],"by":[38,104],"leveraging":[39],"guidance":[41],"from":[42],"foundation":[43],"depth":[44,62,86],"models.":[45],"To":[46,69],"this":[47],"end,":[48],"we":[49,73,91],"first":[50],"develop":[51],"Hybrid":[53],"Flow":[54],"Network":[55],"produces":[57],"geometry-aware":[58],"correspondences,":[59],"enabling":[60],"consistent":[61],"pose":[64,84],"inference":[65],"across":[66,133],"diverse":[67],"keyframes.":[68],"enforce":[70],"global":[71],"consistency,":[72],"propose":[74],"Bi-Consistent":[76],"Bundle":[77],"Adjustment":[78],"Layer":[79],"jointly":[81],"optimizes":[82],"keyframe":[83],"under":[87],"multi-view":[88],"constraints.":[89],"Furthermore,":[90],"introduce":[92],"Reliability-Aware":[94],"Refinement":[95],"mechanism":[96],"dynamically":[98],"adapts":[99],"update":[102],"process":[103],"distinguishing":[105],"between":[106,116],"reliable":[107],"uncertain":[109],"regions,":[110],"forming":[111],"closed":[113],"feedback":[114],"loop":[115],"matching":[117],"optimization.":[119],"Extensive":[120],"experiments":[121],"demonstrate":[122],"FoundationSLAM":[124],"achieves":[125],"superior":[126],"trajectory":[127],"accuracy":[128],"reconstruction":[131],"quality":[132],"multiple":[134],"challenging":[135],"datasets,":[136],"while":[137],"running":[138],"real-time":[140],"at":[141],"18":[142],"FPS,":[143],"demonstrating":[144],"strong":[145],"generalization":[146],"various":[148],"scenarios":[149],"practical":[151],"applicability":[152],"our":[154],"method.":[155]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-03-18T00:00:00"}
