DAVIO: Dense Monocular-Inertial SLAM with Feed-Forward Initialization and Pose-Conditioned Mapping

arXiv:2609.27702 · cs.RO, cs.CV · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-23

Updated: 2026-09-23

Project page: https://be2rlab.github.io/DAVIO

Terminology

• Machine Hall — 7× in this paper
• Alignment — 6× in this paper · explained in 1 episode
• Calibration — 6× in this paper · explained in 7 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 5× in this paper
• International Conference on Robotics and Automation — 4× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Foundation Model — 2× in this paper · explained in 3 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Degeneracy — 1× in this paper · explained in 3 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• $\pi^3$: Permutation-Equivariant Visual Geometry Learning
• Depth Anything 3: Recovering the Visual Space from Any Views
• ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM

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