SLAMFormer-$\infty$: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing
We introduce the Infinite SLAM Transformer (SLAMFormer-$\infty$), the first geometric transformer capable of supporting both long-range frontend and backend processing without an explicit distance bound. Instead of relying on a first-frame-anchored formulation, SLAMFormer-$\infty$ employs memory conditions to define flexible coordinate systems and scales for input frames, enabling more expressive structural conditioning. Built upon this formulation, the frontend preserves efficient local computation, while the backend jointly optimizes long-range trajectories and scene geometry in a globally consistent manner. Experimental results demonstrate that SLAMFormer-$\infty$ achieves superior or ...
| Authors | Zhijian Fang, Weicheng Zheng, Yijun Yuan et al. |
|---|---|
| Primary category | cs.CV |
| Published | 4 August 2026 |
| Last updated at source | 4 August 2026 |
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