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Author

S. Kolyubin

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Preprint Sep 2026

DAVIO: Dense Monocular-Inertial SLAM with Feed-Forward Initialization and Pose-Conditioned Mapping

A camera and an IMU are the minimal sensor setup for metric localization and dense mapping, yet classical visual--inertial filters must wait for parallax before they start and then retain only sparse landmarks. Feed-forward geometry models, in contrast, predict dense structure from a few images but provide neither metr...

J. Mahmoud, Arthur Movsesyan, Mikhail Iumanov et al. · 0 citations
Open access Jul 2026

SAM3R: Object-Centric 3D Mapping via Foundation-Model-Guided Data Association in Changing Scenes

For embodied agents to navigate and reason indoor spaces, they need object-level 3D representations that stay consistent over time as new frames arrive from a monocular camera. Current online 3D instance segmentation methods either depend on posed RGB-D input with ground-truth depth or couple tightly to the internal re...

M. Mohrat, E. Derevyanka, I. Obrubov et al. · 0 citations

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