Noctif3R: Feed-Forward Monocular Real-Time SLAM for Photon-Limited Scenes on Embedded Hardware

arXiv:2609.21114 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Accuracy — 9× in this paper · explained in 1 episode
• Abstention — 3× in this paper · explained in 1 episode
• Decode — 3× in this paper · explained in 2 episodes
• Allocator — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Transformer — 2× in this paper · explained in 2 episodes
• AUROC — 1× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 4 episodes
• Core — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Optical Flow — 1× in this paper · explained in 2 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Teacher-Student Distillation — 1× in this paper · explained in 2 episodes

Sources

• Dark3R: Learning Structure from Motion in the Dark
• DarkVGGT: Seeing Through Darkness Using Thermal Geometry without Daylight Tax
• Lumos3D: A Single-Forward Framework for Low-Light 3D Scene Restoration
• VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold
• EC3R-SLAM: Efficient and Consistent Monocular Dense SLAM with Feed-Forward 3D Reconstruction
• VGGT-SLAM 2.0: Real-time Dense Feed-forward Scene Reconstruction
• SNIC: Synthesized Noisy Images using Calibration

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