For more please visit:
Website: edexheim.github.io/mast3r-slam/
Video: youtu.be/wozt71NBFTQ
Introducing MASt3R-SLAM, the first real-time monocular dense SLAM with MASt3R as a foundation.
Easy to use like DUSt3R/MASt3R, from an uncalibrated RGB video it recovers accurate, globally consistent poses & a dense map.
With @ericdexheimer.bsky.social* @ajdavison.bsky.social (*Equal Contribution)
For robustness, MASt3R-SLAM performs relocalisation allowing it to handle the kidnapped robot problem.
As a purely monocular SLAM, it loses track when the camera’s view is obstructed, but as soon as the view is unblocked, it immediately relocalises and resumes mapping.
We use MASt3R's two-view prior as our only network with no fine-tuning.
By leveraging this 3D prior and making minimal assumptions on the camera model, we can handle dynamically changing zoom.
Efficient test-time optimisation and loop closure enable large-scale consistency.
MASt3R-SLAM code release!
github.com/rmurai0610/M...
Try it out on videos or with a live camera
Work with
@ericdexheimer.bsky.social*,
@ajdavison.bsky.social (*Equal Contribution)
Riku Murai
We’ve had fun testing the limits of MASt3R-SLAM on in-the-wild videos. Here’s the drone video of a Minnesota bowling alley that we’ve always wanted to reconstruct! Different scene scales, dynamic objects, specular surfaces, and fast motion.
Video
Riku Murai
Riku Murai
Riku Murai
Riku Murai
Introducing MASt3R-SLAM, the first real-time monocular dense SLAM with MASt3R as a foundation.
Easy to use like DUSt3R/MASt3R, from an uncalibrated RGB video it recovers accurate, globally consistent poses & a dense map.
With @ericdexheimer.bsky.social* @ajdavison.bsky.social (*Equal Contribution)
MASt3R-SLAM code release!
github.com/rmurai0610/M...
Try it out on videos or with a live camera
Work with
@ericdexheimer.bsky.social*,
@ajdavison.bsky.social (*Equal Contribution)
Riku Murai
Introducing MASt3R-SLAM, the first real-time monocular dense SLAM with MASt3R as a foundation.
Easy to use like DUSt3R/MASt3R, from an uncalibrated RGB video it recovers accurate, globally consistent poses & a dense map.
With @ericdexheimer.bsky.social* @ajdavison.bsky.social (*Equal Contribution)
