All-St3R SLAM: Real-time RGB Dynamic SLAM with Pixel-wise Motion Masking
SLAM (Simultaneous Localization and Mapping) is a core technology in autonomous systems that enables them to estimate their own position and build a map of unknown environments simultaneously. SLAM systems in dynamic environments are of great practical importance. However, existing dynamic SLAM approaches still have several limitations like over-removal and high computational costs. To address these limitations, we propose a real-time RGB Dynamic SLAM framework that precisely removes moving objects at the pixel level without relying on predefined labels or segmentation models. Our system combines pixel motion predicted by ego-motion using DUSt3R with point tracking from All-Tracker, remov...
| Authors | Yewon Kim, Paul Hongsuck Seo, Sang Chul Ahn |
|---|---|
| Primary category | cs.CV |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
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- 15 Oct 2026 Topics added cs.RO
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