Author

Lourdes Agapito

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Preprint Sep 2026

AMB3R-SLAM: Kilometer-scale SLAM with Hierarchical Backend

We present AMB3R-SLAM, a real-time monocular SLAM system capable of reconstructing kilometer-scale trajectories over 10k frames on a single consumer-grade GPU. Our model couples a lightweight front-end for low-latency online tracking with a hierarchical backend that progressively enforces local, mid-level, and global c...

Hengyi Wang, Lourdes Agapito · 0 citations