ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM

arXiv:2606.00307 · cs.RO · Submitted 2026-05-29 · Read on arXiv

cs.RO

Submitted: 2026-05-29

Updated: 2026-09-25

Comments: Accepted to IEEE Robotics and Automation Letters (RA-L) 2026

Journal ref: IEEE Robot. Autom. Lett. 11(11), 2026, 12519-12526

DOI: 10.1109/LRA.2026.3732836

Code: https://github.com/ori-drs/ScaRF-SLAM

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Reconstruction Error — 17× in this paper · explained in 2 episodes
• Consistency — 9× in this paper · explained in 3 episodes
• Accuracy — 7× in this paper · explained in 1 episode
• Foundation Model — 6× in this paper · explained in 3 episodes
• Alignment — 5× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Point Clouds — 4× in this paper · explained in 2 episodes
• Ablation study — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Foundation Models — 3× in this paper · explained in 7 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Adaptive Strategy — 2× in this paper · explained in 1 episode
• Robustness — 2× in this paper · explained in 5 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• MASt3R-Fusion: Integrating Feed-Forward Visual Model with IMU, GNSS for High-Functionality SLAM
• VGGT-Long: Chunk it, Loop it, Align it -- Pushing VGGT's Limits on Kilometer-scale Long RGB Sequences
• Geometric Context Transformer for Streaming 3D Reconstruction

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