{"id":"https://openalex.org/W7163215404","doi":"https://doi.org/10.48550/arxiv.2606.00307","title":"ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM","display_name":"ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM","publication_year":2026,"publication_date":"2026-05-29","ids":{"openalex":"https://openalex.org/W7163215404","doi":"https://doi.org/10.48550/arxiv.2606.00307"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.00307","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.00307","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.00307","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137710364","display_name":"Yuhao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yuhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137711173","display_name":"Yifu Tao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao, Yifu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dellaert, Frank","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137694299","display_name":"Maurice Fallon","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fallon, Maurice","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9696000218391418,"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":0.9696000218391418,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.00860000029206276,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.004600000102072954,"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/trajectory","display_name":"Trajectory","score":0.7193999886512756},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7023000121116638},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5418999791145325},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5396000146865845},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4952999949455261},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4934999942779541},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4571000039577484},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4487999975681305},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.36000001430511475}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.732699990272522},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7193999886512756},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7190999984741211},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7023000121116638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6822999715805054},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5418999791145325},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5396000146865845},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4952999949455261},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4934999942779541},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4571000039577484},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4487999975681305},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3483999967575073},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3328000009059906},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3319999873638153},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.3255000114440918},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.31869998574256897},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3003999888896942},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.28040000796318054},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.2750000059604645},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C2777552389","wikidata":"https://www.wikidata.org/wiki/Q1962728","display_name":"Course (navigation)","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.00307","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.00307","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.00307","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.00307","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5971506834030151,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"works":[1],"have":[2],"explored":[3],"unifying":[4],"SLAM":[5,50,68,87],"with":[6,51,169,194],"geometric":[7,27,108],"foundation":[8],"models":[9],"(GFMs).":[10],"However,":[11],"directly":[12],"using":[13],"GFM":[14,101],"predictions":[15,31,102],"for":[16,69,77],"tracking":[17,72,156],"is":[18],"highly":[19],"sensitive":[20],"to":[21,82,146],"model":[22],"capability":[23],"and":[24,57,73,89,121,128,142,157,173],"uncertainty,":[25],"as":[26],"inaccuracies":[28,99],"in":[29],"the":[30,86,94,111,151],"can":[32],"adversely":[33],"affect":[34],"pose":[35,104],"estimation.":[36],"To":[37,154],"address":[38],"this":[39],"limitation,":[40],"we":[41,64,162],"present":[42],"a":[43,164],"decoupled":[44],"framework":[45],"that":[46,178],"integrates":[47],"classical":[48,66],"feature-based":[49,152],"GFMs,":[52],"which":[53],"achieves":[54,181],"higher":[55],"quality":[56],"more":[58],"consistent":[59],"dense":[60],"reconstruction.":[61,112],"In":[62],"brief,":[63],"use":[65,74],"visual":[67],"robust":[70],"low-latency":[71],"GFMs":[75],"exclusively":[76],"mapping.":[78],"By":[79],"anchoring":[80],"mapping":[81],"poses":[83],"produced":[84],"by":[85,189],"module":[88],"optimizing":[90],"across":[91],"depth":[92],"scales,":[93],"proposed":[95],"design":[96],"avoids":[97],"propagating":[98],"from":[100,117,150],"into":[103],"estimation":[105],"while":[106,185],"imposing":[107],"constraints":[109],"on":[110,204],"The":[113],"system":[114],"builds":[115],"submaps":[116,144],"multiple":[118],"posed":[119],"keyframes":[120],"enforces":[122],"scale":[123,130],"consistency":[124],"via":[125],"lightweight":[126],"frame":[127],"submap":[129],"optimization.":[131],"It":[132],"also":[133],"performs":[134],"projection-based":[135],"point":[136],"cloud":[137],"fusion":[138],"within":[139],"each":[140],"submap,":[141],"updates":[143,149],"online":[145],"reflect":[147],"trajectory":[148,183],"SLAM.":[153],"evaluate":[155],"reconstruction":[158,187,198],"of":[159],"our":[160,179],"method,":[161],"introduce":[163],"loop-rich,":[165],"building-scale":[166,205],"indoor":[167],"dataset":[168],"accurate":[170],"sensor":[171],"trajectories":[172],"LiDAR":[174,221],"ground-truth.":[175],"Experiments":[176],"show":[177],"approach":[180],"superior":[182],"accuracy":[184],"improving":[186],"precision":[188],"10%-20%":[190],"over":[191],"existing":[192],"methods,":[193],"about":[195],"2":[196],"cm":[197,214],"error":[199,215],"per":[200,216],"10":[201,213],"m":[202,218],"chunk":[203,219],"dataset.":[206],"On":[207],"large-scale":[208],"outdoor":[209],"datasets,":[210],"it":[211],"attains":[212],"30":[217],"(w.r.t":[220],"ground-truth":[222],"models).":[223]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-03T00:00:00"}