Preprint Open access
F$^2$ SLAM: Turning Feed-Forward Geometry into Persistent Factors for SLAM
Feed-forward 3D models provide strong multi-view geometric priors, while on- line simultaneous localization and mapping (SLAM) relies mainly on local mea- surements and can accumulate drift over long sequences. Existing attempts to combine the two typically treat feed-forward predictions as an external geomet- ric stat …