Author

Sebastián Barbas Laina

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Preprint Aug 2026

Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM

Scalix is proposed, a real-time monocular SLAM framework that achieves metric-scale state estimation by integrating learned depth cues into a probabilistic factor-graph formulation, leading to improved scale consistency through multi-view data associations.

Sebastián Barbas Laina, Tian-Yi Zhang, Panagiotis Petropoulakis et al. · 0 citations