Pow3R-SLAM: Real-Time RGB-D SLAM with 3D Reconstruction Priors
We present Pow3R-SLAM, a real-time RGB-D simultaneous localization and mapping (SLAM) system that uses Pow3R for tracking and mapping. Inspired by MASt3R-SLAM, a recent work on monocular SLAM using two-view 3D reconstruction priors, we extend the work to incorporate depth as a prior on the network's prediction, rather than as geometry to fuse. Where traditional RGB-D SLAM systems struggle with sparsity in the depth images, Pow3R utilizes the available depth to give a better-conditioned pointmap, while inferring the depths in empty regions from the two-view photometric, depth, and intrinsic data. Evaluated against MASt3R-SLAM following its protocol on 24 sequences from TUM, 7-Scenes, and R...
| Authors | Christopher Kolios, Ishaan Mehta, Sasa Janjic et al. |
|---|---|
| Primary category | cs.RO |
| Published | 29 September 2026 |
| Last updated at source | 29 September 2026 |
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