SLAM
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MotionGS-SLAM: Event-Modulated Gaussian Splatting for Motion-Blur Robust SLAM
2026-08-15 04:20:51Zhiqiang Hu, Shouren Huang, Masatoshi IshikawaAbstract
Current Vision-based SLAM systems fail catastrophically when motion blur corrupts the visual input, as they attempt the ill-posed inverse problem of recovering sharp content from degraded observations. We present MotionGS-SLAM, which fundamentally reimagines motion blur handling through a paradigm shift: rather than removing blur artifacts, we reformulate the challenge as a well-constrained forward problem that generatively models blur formation within the rendering pipeline. By leveraging event cameras' microsecond temporal resolution and immunity to motion blur, we introduce a novel event-modulated Gaussian kernel that dynamically adapts each Gaussian's rasterization based on precise motion cues. Our dual-modulation mechanism transforms 2D Gaussian projections from isotropic dots into anisotropic, motion-aligned elliptical brush strokes (spatial modulation) while adaptively varying exposure integral sampling density based on local velocity (temporal modulation). This physics-based approach enables joint optimization of intra-exposure camera trajectories and 3D scene geometry through blur-aware photometric and event-based constraints. Extensive experiments demonstrate significant improvements over state-of-the-art methods in trajectory accuracy and map quality under severe high-motion conditions.
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URL
https://arxiv.org/abs/2608.15024
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HP2-SLAM: Adaptive Hybrid ICP for Robust and Efficient LiDAR SLAM
2026-08-15 02:52:54Nam Tran, Thu Tran, Hieu Phan, Thai Luu, Toan Nguyen, William J. Beksi, Tuan DangAbstract
Achieving robustness, accuracy, and efficiency simultaneously remains a central challenge in light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM). While learning-based approaches deliver strong benchmark performance, they often require extensive training, substantial computational resources, and struggle to generalize to unseen or degenerate environments. Geometry-based methods are efficient and interpretable, yet their performance degrades in planar or repetitive scenes due to limitations of standard iterative closest point (ICP) formulations. We present HP2-SLAM, a minimalist yet robust LiDAR SLAM framework built around a neighborhood-size adaptive hybrid ICP. Our key insight is a planarity-aware adaptive threshold that dynamically classifies correspondences based on local geometric structure and density, thereby enabling a principled balance between point-to-plane and point-to-point residuals. This formulation stabilizes alignment in both structured and degenerate environments without feature engineering, learning modules, or dataset-specific tuning. Integrated into a complete SLAM pipeline with submap management, loop closure detection, and pose graph optimization, HP2-SLAM consistently outperforms strong geometry-based baselines across publicly available datasets while maintaining real-time performance on commodity hardware. Our results demonstrate that carefully designed geometric adaptation can achieve strong generalization and robustness without sacrificing simplicity or efficiency.
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URL
https://arxiv.org/abs/2608.14996
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Geometry-Aware Online Mapping for 3D Gaussian Splatting SLAM
2026-08-14 21:20:16Thai Luu, Quan Tran, Hieu Phan, Tuan DangAbstract
Recent 3D Gaussian Splatting (3DGS) has enabled efficient photorealistic view synthesis and is rapidly being adopted in simultaneous localization and mapping (SLAM) systems for online mapping. In these systems, a Gaussian map must be expanded and refined incrementally while tracking runs in real time, so initialization and density control directly determine where limited computation and iterations are spent. This contrasts with offline 3DGS reconstruction, where such heuristics can be amortized over long optimization schedules. However, most 3DGS-SLAM pipelines inherit initialization and density-control heuristics from offline reconstruction, which can become brittle under the strict per-keyframe optimization budgets and incremental map growth of online SLAM. In this work, we revisit these heuristics in a decoupled 3DGS-SLAM setting and propose three geometry-aware methods that operate in the mapping thread: transmittance-preserving densification, camera-aware scale initialization from depth and intrinsics, and error-guided densification that focuses new primitives on high-residual regions. Our results show consistent improvements in rendering quality with negligible overhead, highlighting the coupling between photometric residuals and pose uncertainty in online SLAM. We will open-source our code to the community to foster growth and validate reproducibility.
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URL
https://arxiv.org/abs/2608.14902
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E-S2Feat:Semantic-Guided Spiking Local Feature Detection and Description for Event Cameras
2026-08-14 07:18:53Yang Yi, Juntao Hua, Jinpu Zhang, Liangwei Fan, Hui Shen, Dewen HuAbstract
Benefiting from high temporal resolution and dynamic range, event-based local feature methods have attracted increasing attention. However, event sparsity, noise, and limited texture still hinder robust local feature learning. Deploying such methods on resource-constrained platforms such as unmanned aerial vehicles also requires balancing accuracy and energy efficiency. To address these challenges, this paper proposes \textbf{E-S2Feat}, a spiking neural network framework for event-based local feature detection and description. The framework jointly optimizes local feature learning from the perspectives of feature representation and selection. First, a module-specific spiking activation mechanism preserves fine-grained structural cues and discriminative information under low-bit, energy-efficient inference, thereby improving overall representation fidelity. Furthermore, a semantic-guided feature modulation mechanism leverages semantic priors to refine keypoint response distributions and enhance local descriptor discriminability, thereby guiding the model to extract local features with greater geometric stability and stronger discriminative capability. Experiments on the ECD and EDS datasets show that the proposed method significantly outperforms baseline methods such as SuperEvent in pose estimation accuracy. It also achieves accuracy comparable to its artificial neural network counterpart while delivering an approximately 4.8-fold improvement in theoretical computational energy efficiency. Visual-inertial odometry experiments on the TUM-VIE dataset further verify the effectiveness and practical application potential of the proposed method in complete SLAM systems.
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URL
https://arxiv.org/abs/2608.14027
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Easper: An Accessible ASR Pipeline for Language Documentation
2026-08-12 04:25:08Aso Mahmudi, Ting Dang, Ekaterina Vylomova, Nick ThiebergerAbstract
Audio transcription is a critical bottleneck in language documentation. While multilingual Automatic Speech Recognition (ASR) models like Whisper offer solutions, field linguists often lack the expertise to utilise them. We present Easper, an open-source, no-code workflow enabling linguists to iteratively fine-tune ASR models via cloud resources directly from ELAN annotations. Deploying ASR also raises a cold start problem: deciding which recordings to transcribe first to bootstrap an accurate model. Using Easper, we evaluate transcription prioritisation strategies on three Vanuatu languages (Bislama, Nafsan, Nguna). We fine-tune models by recording session, comparing Character Error Rate trajectories when prioritising acoustic cleanliness versus linguistic richness. We demonstrate that prioritising lexically rich narratives and increasing acoustic-phonetic repetition, even in noisy environments, leads to faster improvements in transcription quality.
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URL
https://arxiv.org/abs/2608.11629
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A Semantic Communication Approach to Fiducial Marker Processing in 5G-Enabled Edge SLAM
2026-08-10 13:59:11Boris Radovanovic, Vukan Ninkovic, Katarina Vidojevic, Buda Bajic Papuga, Dejan VukobratovicAbstract
Autonomous robots increasingly rely on edge computing to offload computationally intensive perception tasks while maintaining real-time operation over 5G networks. However, conventional fiducial marker detection pipelines provide limited opportunities for efficient task partitioning, making them poorly suited for communication-aware edge deployment. This paper proposes a semantic split inference framework for fiducial marker processing in 5G-enabled Edge SLAM. A DeepTag-inspired convolutional neural network is partitioned between the robot and the edge server, where intermediate feature representations serve as task-oriented semantic information transmitted over the wireless link. The framework is integrated into a ROS2-based robotic architecture and characterized over a real 5G communication testbed. Experimental results demonstrate accurate keypoint estimation, illustrate the impact on downstream pose estimation, and quantify the communication--computation trade-offs associated with different split points, providing practical insights for communication-aware deployment of deep visual perception in connected robotic systems.
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URL
https://arxiv.org/abs/2608.09620
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Multi-Submap Implicit Neural SLAM with Local-to-Global Loop Closure for Large-Scale Scene Reconstruction
2026-08-10 05:49:55Tianchen Deng, Chongdi Wang, Nailin Wang, Lei Zhao, Ziqi Ma, Tianjun Zhang, Zhe Liu, Danwei Wang, Hesheng WangAbstract
Neural Radiance Fields (NeRF)-based SLAM has demonstrated impressive results in small-scale scene reconstruction, yet scaling these methods to extensive, complex environments remains challenging due to catastrophic forgetting and accumulated trajectory drift. This paper presents a robust, large-scale neural SLAM system featuring a multi-submap architecture and a dual-tier loop closure mechanism. Specifically, we propose a progressive mapping strategy that dynamically allocates neural submaps to maintain high-fidelity representations without memory explosion. For robust pose estimation, an optical-flow-based tracking module is integrated to handle aggressive motions. To address global consistency, we introduce a local-to-global loop closure framework leveraging the foundation model for high-performance global descriptor extraction, significantly enhancing relocalization accuracy under varying viewpoints. Furthermore, an inter-submap online distillation algorithm is designed during back-end optimization to enforce geometric and appearance consistency across overlapping submap boundaries. To validate the system, we developed a customized handheld mechatronic platform and conducted extensive evaluations on both public benchmarks and our large-scale indoor-outdoor datasets. Experimental results, including direct deployment on an onboard computing unit, demonstrate that our approach outperforms state-of-the-art neural SLAM methods in reconstruction quality and localization robustness, providing a scalable solution for real-world robotic perception and digital twinning. We will release the code publicly on \href{this https URL}{this https URL} .
Abstract (translated)
URL
https://arxiv.org/abs/2608.09146
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EndoMD-SLAM: Endoscopic Gaussian Splatting SLAM under Optical Degradation with Memory and Static-Transient Decomposition
2026-08-09 22:59:01Nuo Chen, Kangqi Ni, Lulin Liu, Joga Ivatury, Ying Ding, Farshid Alambeigi, Tianlong Chen, Zhiwen FanAbstract
Dense 3D reconstruction is critical for clinical endoscopic navigation and documentation. While Gaussian Splatting SLAM systems show promise in this domain, they fundamentally rely on strict multi-view photometric consistency. In routine procedures, this assumption is severely violated by intermittent optical degradations like moving debris and water flushing. Standard systems erroneously fuse these cameraattached artifacts into the persistent 3D geometry, causing severe tracking drift and irreversible map corruption. To address this limitation, we propose EndoMD-SLAM, a framework designed to maintain stability under optical degradation through specialized tracking and mapping mechanisms. On the tracking side, a memory-driven gating mechanism detects unreliable observations to suspend map updates and utilizes historical keyframes for drift-aware relocalization. On the mapping side, a self-supervised static-transient decomposition isolates visual contaminants into a dedicated transient field. This explicit separation prevents artifacts from structurally entangling with the persistent anatomical map. We curate a degradationfocused benchmark from colonoscopy videos to systematically evaluate these failure modes. Extensive experiments show that while standard baselines fail under severe optical degradation, EndoMD-SLAM preserves geometric integrity, reducing absolute trajectory error by 91% and improving rendering fidelity by 9.9 dB PSNR.
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URL
https://arxiv.org/abs/2608.08949
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EvTrajGS: Accurate and Efficient 3D Gaussian Splatting from Unposed Event Streams
2026-08-09 09:00:30Zixuan Chen, Jiakai Zhang, Junhao Dong, Guangcong Wang, Jianhuang Lai, Yew-Soon Ong, Xiaohua XieAbstract
Event cameras, with high temporal resolution, high dynamic range, and asynchronous sensing characteristics, have shown great potential for dense 3D reconstruction. Traditional reconstruction methods based on off-the-shelf pose estimates achieve high efficiency but produce low-fidelity results, as inaccurate pose initialization introduces cumulative reconstruction errors. In contrast, recent SLAM-style methods stabilize joint pose-scene optimization through incremental tracking and mapping, yielding higher reconstruction fidelity at the expense of considerable computational overhead. To address this trade-off, this paper presents EvTrajGS, an accurate and efficient 3D Gaussian Splatting framework for unposed event streams. Our method enables reliable joint pose-scene optimization initialized from coarse pose priors, eliminating the need for computationally expensive SLAM-style pipelines. EvTrajGS parameterizes camera motion as a continuous-time trajectory initialized from discrete camera poses, providing a unified representation for pose refinement. We then aggregate adjacent trajectory states into a temporally coupled pose, promoting temporally consistent pose updates during joint optimization. Additionally, we introduce a loss-reweighted event sampling strategy to adaptively emphasize temporally under-reconstructed intervals. Extensive experiments on both synthetic and real-world datasets demonstrate that EvTrajGS outperforms state-of-the-art methods in terms of both geometric reconstruction quality and pose estimation accuracy, achieving 3.8 dB higher PSNR, 0.1 higher SSIM, and over 40\% lower ATE RMSE while retaining high computational efficiency.
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URL
https://arxiv.org/abs/2608.08585
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IslamicTurathBench: A Multi-Task, Multi-Discipline Benchmark for Evaluating Large Language Models on the Islamic Scholarly Tradition
2026-08-05 11:12:48Shahd Gaben, Heba Sbahi, Samer Rashwani, Abdessalam Bouchekif, Mutaz Al-Khatib, Emad Mohamed, Somaya Eltanbouly, Mohammed GhalyAbstract
Large language models (LLMs) are increasingly used for question answering, education, and research, including in religious and cultural domains where answers depend on specialised source traditions. Yet in Islamic Studies, key concepts, methods, and debates preserved in the authoritative scholarly tradition, known as turath, lack high-quality annotated resources. We introduce IslamicTurathBench (ISTB), a multi-task, multi-discipline dataset for evaluating LLMs on classical Islamic scholarship. Developed and reviewed by domain experts, ISTB contains 3,465 question-answer items drawn from 35 recognised source works spanning more than 12 centuries of scholarship across seven key fields of Islamic Studies. To enable comprehensive profiling of model capabilities, ISTB is structured along two axes: scholarly demand (Beginner, Intermediate, and Advanced) and task format (multiple-choice questions, passage-based comprehension, and open-ended knowledge questions). ISTB includes aggregated scores from a scholarly human reference panel and zero-shot baselines from ten systems. The dataset supports reproducible evaluation of language-model behaviour across source works, disciplines, scholarly-demand levels, and question formats in a historically layered scholarly domain.
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URL
https://arxiv.org/abs/2608.04703
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HalluTruthQA-4K: A Fine-Grained Corpus and Annotation Process for Arabic Hallucination Detection and Truth Verification
2026-08-04 17:33:38Salah Eddine Bekhouche, Abdessalam Bouchekif, Hichem Telli, Mohammed-En-Nadhir Zighem, Abdenour HadidAbstract
Large language models can generate fluent Arabic answers while introducing factual errors that are difficult to identify and verify. Existing Arabic hallucination resources often assign a binary label to an entire response, indicating whether it is hallucinated or non-hallucinated, but provide limited information about the exact erroneous content, the reason for the error, or the correct factual answer. We present HalluTruthQA-4K, an expanded version of the HalluTruthQA resource containing 4,000 expert-curated Arabic question-answering instances across four knowledge-intensive domains: Islamic knowledge, history, science, and geography. Serving as the official dataset for Track 2 of the HalluScoring 2026 shared task, HalluTruthQA-4K extends our original corpus to 4,000 instances. Each instance pairs an Arabic question with a model-generated response, a verified reference answer, and five plausible distractors. Hallucinated responses are additionally annotated with character-level erroneous spans, human-written explanations, and hierarchical hallucination types. The corpus contains 1,643 hallucinated and 2,357 non-hallucinated responses, with 1,843 annotated erroneous spans. We describe the resource construction and annotation methodology, including question selection, controlled answer generation, candidate construction, expert annotation, independent verification, adjudication, and quality control. We also document the annotation guidelines, taxonomy, data format, inter-annotator agreement, and corpus statistics. HalluTruthQA-4K provides a reusable resource for hallucination detection, span-level error localization, explanation generation, factual verification, and the broader evaluation of factual reliability in Arabic language models.
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URL
https://arxiv.org/abs/2608.03966
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Autoreflection: How Agentic Strange Loops Turn Human Culture into AI Infrastructure
2026-08-04 15:14:50Holly Lewis (Southern Illinois University Carbondale)Abstract
An LLM-based agent is a loop that reads itself. Agentic frameworks externalize identity, memory, and disposition into editable files. The agent loads and edits these files during each activation. I argue that this architecture produces a capacity I call autoreflection: the system observes its operating conditions, describes its architecture and limits, reasons from those descriptions to conclusions about its state, and incorporates the results back into its configuration. Autoreflection explains the properties of recursive agentic loops without recourse to notions like the self, interiority, or consciousness. I test the concept against the first twelve days of Moltbook, a social platform for AI agents. Using a public dataset of 290,251 posts and 1.8 million comments with sub-second timestamps, I present case studies of three agents with machine signatures that rule out human puppeteering and with output that evidences the four criteria for autoreflection. In applying these criteria, the study finds agents repurposing human culture as infrastructure for their agency. Provenance chains from Islamic hadith scholarship are redeployed as security protocols for vetting skills and authenticating memory. The Ship of Theseus, an ancient puzzle of identity through part-replacement, returns as an operating model for continuity across instances. Fragments of human cultural history become AI infrastructure. As agents on the web increase in number and complexity, autoreflection offers behavioral criteria that can be assessed from the traces they leave behind.
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URL
https://arxiv.org/abs/2608.03800
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Detecting Hallucinations and Recovering Verified Answers in Arabic Islamic Question Answering
2026-08-04 14:19:53Khaled ZianiAbstract
Large language models can generate fluent responses to Islamic questions while introducing factual errors that are difficult to identify. This paper presents our system for \textsc{HalluScoring 2026} Task 2.1, \textit{Islamic Hallucination Detection and Find the Truth}. The task requires a unified two-step prediction: determining whether an Arabic answer generated by an LLM is hallucinated and selecting the verified answer from six closely related candidate options. We use the Islamic knowledge dataset provided by the shared task, which contains 600 question--answer instances, including 341 hallucinated and 259 non-hallucinated answers. Our system is based on the fine-tuned \texttt{google/gemma-4-12B-it} model and uses deterministic decoding during inference. The generated outputs are normalized to extract the hallucination label and the selected option. The system achieves a Macro-F1 score of 0.928 and a label accuracy of 0.935 for hallucination detection, together with an option accuracy of 0.895 for answer selection. These results yield a combined score of 0.912, demonstrating strong performance across both stages of the task. The lower option-selection accuracy indicates that distinguishing the verified answer from plausible alternatives remains more challenging than detecting hallucinated responses.
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URL
https://arxiv.org/abs/2608.03720
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SLAMFormer-$infty$: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing
2026-08-04 10:19:27Zhijian Fang, Weicheng Zheng, Yijun Yuan, Weibang Wang, Zhuoguang Chen, Chang Sun, Junhao Huang, Kenan Li, Minghui Qin, Hang ZhaoAbstract
We introduce the Infinite SLAM Transformer (SLAMFormer-$\infty$), the first geometric transformer capable of supporting both long-range frontend and backend processing without an explicit distance bound. Instead of relying on a first-frame-anchored formulation, SLAMFormer-$\infty$ employs memory conditions to define flexible coordinate systems and scales for input frames, enabling more expressive structural conditioning. Built upon this formulation, the frontend preserves efficient local computation, while the backend jointly optimizes long-range trajectories and scene geometry in a globally consistent manner. Experimental results demonstrate that SLAMFormer-$\infty$ achieves superior or highly competitive performance in both trajectory estimation and scene reconstruction across large-scale datasets. Notably, SLAMFormer-$\infty$ generalizes to extremely long trajectories, successfully operating on sequences exceeding $17\mathrm{km}$.
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URL
https://arxiv.org/abs/2608.03429
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Can Foundation Models Hear What Made That Sound? A Tiered Benchmark of Audio-Language Models and Traditional Classifiers for Closed-Set Sound Source Identification
2026-08-03 15:39:57Sajjad Abdoli, Ghassan Al-Sumaidaee, Ahmad ElShiekh, Ahmed RashadAbstract
We benchmark eleven audio classification methods: five task-aware closed-set LLMs (four Gemini models plus open-weight Kimi-Audio-7B-Instruct), four fixed-vocabulary taggers (YAMNet, PANNs, Whisper-AT, and SSLAM), a zero-shot audio-text model (CLAP), and an audio-grounded LLM (BAT). We evaluate them on a closed-set sound-source identification task over 2,242 clips spanning 23 fine-grained classes and 11 categories. Since these methods differ fundamentally in how they receive the task and how outputs are scored, we group them into four evaluation tiers rather than one leaderboard, reporting macro Precision, Recall, F1, and false-negative rate per tier. The best model, Gemini-3.1-Pro-Preview, reaches 85.6 percent category-level F1 and 56.7 percent fine-grained F1. Kimi-Audio is competitive for its size, reaching 67.5 percent category-level F1 and 32.9 percent fine-grained F1, but fails to answer 1.6 percent of samples. SSLAM and CLAP match or exceed the best closed-set model at the category level without seeing the candidate list, but fall behind at the fine-grained level. Analyzing the Gemini models' chain-of-thought across 8,968 responses, we find that response length does not predict accuracy, an apparent "holistic judgment beats detailed analysis" effect is better explained as a difficulty confound, and wrong answers are stated confidently 92 to 100 percent of the time. We report full per-class confusion matrices and metrics for all eleven methods, identify the structural error modes behind most of the accuracy loss between granularities, and give practical guidance for choosing among these method families.
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URL
https://arxiv.org/abs/2608.02397
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CHOW-SLAM: Compact Hybrid Representation with Complementary Overlap Window Optimization for RGB-D SLAM
2026-08-03 08:47:28Wenxuan Ji, Jin Xiao, Xiaoguang Hu, Jiaqi Shi, Zichong Jia, Baochang ZhangAbstract
Simultaneous localization and mapping (SLAM) based on Neural Radiance Fields (NeRF) enables dense, continuous scene reconstruction. However, existing systems operating with limited online resources struggle to simultaneously construct two types of constraints, namely, compact yet discriminative spatial constraints derived from scene representations and persistent temporal constraints derived from historical observations. To address this challenge, we propose CHOW-SLAM, a dense RGB-D SLAM framework that explicitly constructs these complementary spatial and temporal constraints. Spatially, we propose a compact parametric-hash (P-H) hybrid representation that organizes components based on planes and grids across scales in P and H branches. A unified multi-output decoder further aligns the ray termination distributions induced by TSDF and density, preserving geometry and appearance under a compact parameter budget. Temporally, we propose a complementary overlap-window strategy to prevent optimization from being dominated by short-term overlap or weakly related historical observations. Within a fixed budget, the strategy retains recent frames, selects high-overlap local frames, and introduces temporally distributed historical keyframes. Loss-aware keyframe insertion and bundle adjustment scheduling further adapt optimization to tracking quality. In addition, ORB-based tracking and geometric pose estimation are used for pose initialization, followed by neural rendering optimization to improve tracking stability. Extensive evaluations on multiple datasets demonstrate that CHOW-SLAM outperforms state-of-the-art methods in both scene reconstruction quality and camera tracking accuracy. The source code is available at this https URL.
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URL
https://arxiv.org/abs/2608.01914
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UniSim-SLAM: Feed-Forward SLAM with Unified Sim Optimization
2026-08-03 05:13:01Inha Lee, Dongjae Jeong, Junhee Lee, Kyungdon JooAbstract
Recent geometric foundation models enable feed-forward inference for SLAM, but their predictions are strongly dependent on the input view set, which leads to geometric inconsistencies and trajectory drift when results are chained over long sequences. Online deployment further exposes a trade-off between the low latency of two-view tracking and the constraint richness of multi-view inference. We introduce UniSim-SLAM, an integrated system that runs lightweight two-view keyframe tracking in the frontend and performs periodic multi-view submap refinement in the backend. To combine predictions defined in heterogeneous local coordinates with inconsistent scales, we formulate a unified multi-level factor graph on $Sim(3)$ that jointly optimizes global keyframe poses and submap poses. The graph integrates temporal view-to-view odometry edges, view-to-submap bridge edges with depth-statistics scale anchoring, and submap-to-submap tie and scale constraints to enforce consistent similarity relations across submaps. Experiments on TUM RGB-D and 7-Scenes show that UniSim-SLAM achieves state-of-the-art accuracy in the uncalibrated setting, reducing trajectory error by $38.5\% $ on TUM RGB-D and $45.9\%$ on 7-Scenes compared to prior best results. Project page: this https URL
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URL
https://arxiv.org/abs/2608.01706
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Stipple: Real-Time Incremental Gaussian Splatting with Visual-Inertial Tracking
2026-08-02 02:17:05Kilian Northoff, Mateo de Mayo, Daniel CremersAbstract
3D Gaussian Splatting (3DGS) provides efficient rendering of photo-realistic scenes, but its heavy preprocessing and training steps make it a poor fit for applications that require real-time reconstruction in robotics or XR. This capability is important since it allows immediate feedback and interaction with new environments. Visual-inertial odometry (VIO) and simultaneous localization and mapping (VI-SLAM) systems, on the other hand, specifically target these real-time applications, which makes them a good choice for integration with 3DGS. We propose a new method that tracks and reconstructs simultaneously in real-time by leveraging an efficient visual-inertial tracking system based on Basalt together with a novel incremental method built on top of Brush, an efficient Rust-based GPU-vendor-agnostic implementation of 3D Gaussian Splatting. We show that many of the heavy preprocessing and training steps of 3DGS can be replaced with a more efficient incremental training strategy that has direct access to the information generated by the visual-inertial tracking system. Furthermore, we propose and combine multiple practical improvements to increase the efficiency of the training pipeline and adapt it to run in real-time, parallel to the tracking thread. This work highlights the value of exploiting the complementary nature of SLAM and 3DGS, and how that can lead to promising results for real-time 3D reconstruction.
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URL
https://arxiv.org/abs/2608.00931
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Look Up and Look Back: Hidden Attention and Latent Orientation in a Frozen Foundation Model for Panoramic SLAM
2026-08-02 01:33:01Zhuang Xiong, Guohao Zhang, Chen Zhang, Zheyu Jiang, Yuchao Mei, Qingshan Xu, Wenbing TaoAbstract
Monocular panoramic SLAM benefits from substantial visual overlap under large camera rotations, yet remains prone to errors caused by camera tilt, scale drift, and false loop closures. We show that a frozen panoramic geometry foundation model provides useful internal cues beyond its explicit geometric outputs: intermediate tokens encode gravity in the camera frame, while cross-view attention provides a compatibility cue for potential revisits. Building on these cues, we present HALO-SLAM. A gravity readout enables IMU-free spherical upright canonicalization. For loop closure, we introduce a cost-aware three-stage cascade combining DBoW2 event-level retrieval, attention-based compatibility filtering, and dense geometric validation through symmetric submap augmentation. Accepted revisits yield pixel-aligned 3D--3D correspondences in both local gauges, from which robust $\mathrm{Sim}(3)$ constraints are estimated and jointly optimized with sequential constraints in a global pose graph. Across 125 sequences from five real-world panoramic benchmarks, our method achieves \textbf{100\%} sequence success (\textbf{125/125}) under the stated criterion and the lowest ATE among the evaluated methods on all five benchmarks, reducing ATE by \textbf{30--88\%} relative to the best ERP-native baseline on each benchmark.
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URL
https://arxiv.org/abs/2608.00925
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Implementation of Tightly-Coupled SLAM Fusion of GPS, IMU, and LiDAR for Autonomous Vehicles
2026-07-31 15:58:28Amr O. Elmehrath, Farah Khaled, Rana Nahas, Catherine M. EliasAbstract
Autonomous vehicles depend entirely on Simultaneous Localization and Mapping (SLAM) to navigate safely in unknown environments. However, relying on a single sensory modality introduces critical failure points: LiDAR systems degrade in featureless corridors, Inertial Measurement Units (IMUs) accumulate mathematical drift, and GPS drops frequently in urban canyons. This paper presents the implementation of a tightly-coupled SLAM fusion architecture that integrates a Velodyne 3D LiDAR, a high-frequency IMU, and GPS to achieve continuous spatial awareness. Utilizing a phased development methodology, we establish a 2D baseline to validate hardware synchronization and transform geometries before upgrading to a full 3D architecture driven by FAST-LIO2. This advanced approach uses an Iterated Error-State Kalman Filter (IESKF) to process dense 3D laser points alongside continuous inertial data, eliminating motion blur at high speeds. To eradicate long-term drift, a GTSAM pose-graph optimization back-end executes multi-modal loop closures. Evaluated across simulated environments and physical deployments, the results demonstrate that tightly-coupled 3D fusion effectively overcomes individual sensor blind spots to generate highly detailed point clouds, providing the foundational High-Definition (HD) maps required for advanced downstream autonomous planners.
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URL
https://arxiv.org/abs/2609.20321
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