Know-Your-Scene (KYS)-SLAM: Hierarchical Semantic-Motion Priors for Feature Matching in Stereo Visual SLAM

arXiv:2609.27509 · cs.CV, cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Comments: 16 pages, 9 figures, 12 tables; includes supplementary material

Code: https://github.com/MichaelGrupp/evo

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

Terminology

Accuracy — 15× in this paper · explained in 1 episode
Optical Flow — 14× in this paper · explained in 2 episodes
Robustness — 6× in this paper · explained in 5 episodes
Alignment — 4× in this paper · explained in 1 episode
Hamming Distance — 4× in this paper · explained in 2 episodes
Transformer — 4× in this paper · explained in 2 episodes
Benchmark — 3× in this paper · explained in 2 episodes
Conference on Computer Vision and Pattern Recognition — 3× in this paper
Core — 3× in this paper · explained in 2 episodes
IEEE International Conference on Robotics and Automation — 3× in this paper
Simultaneous Localization and Mapping — 3× in this paper
Ablation — 2× in this paper · explained in 1 episode
Adam — 2× in this paper · explained in 2 episodes
Generalization — 2× in this paper · explained in 13 episodes
Instance Segmentation — 2× in this paper · explained in 3 episodes
Clustering — 1× in this paper · explained in 2 episodes
Consistency — 1× in this paper · explained in 3 episodes
Failure Modes — 1× in this paper · explained in 3 episodes
Feature Selection — 1× in this paper · explained in 4 episodes
Hybrid System — 1× in this paper · explained in 2 episodes
In International Conference on Computer Vision — 1× in this paper
Point Clouds — 1× in this paper · explained in 2 episodes
Pruning — 1× in this paper · explained in 4 episodes
Semantic Understanding — 1× in this paper · explained in 2 episodes
Spectral clustering — 1× in this paper · explained in 2 episodes

Terminology

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