AMB3R-SLAM: Kilometer-scale SLAM with Hierarchical Backend
We present AMB3R-SLAM, a real-time monocular SLAM system capable of reconstructing kilometer-scale trajectories over 10k frames on a single consumer-grade GPU. Our model couples a lightweight front-end for low-latency online tracking with a hierarchical backend that progressively enforces local, mid-level, and global consistency. By avoiding bundle adjustment that relies on the static world assumption, our system naturally handles complex dynamic scenes out of the box. Furthermore, we demonstrate that our method can be extended to leverage stereo, RGB-D, and LiDAR as additional inputs. AMB3R-SLAM achieves strong camera tracking performance across 9 datasets, reducing the absolute trajecto...
| Authors | Hengyi Wang, Lourdes Agapito |
|---|---|
| Primary category | cs.CV |
| Published | 17 September 2026 |
| Last updated at source | 17 September 2026 |
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