MVP-SLAM: Multi-Camera Visual-Inertial Floorplan-Prior SLAM

arXiv:2609.39596 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Alignment — 11× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Robustness — 4× in this paper · explained in 5 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Digital Twin — 2× in this paper · explained in 5 episodes
• Absolute Pose Error — 1× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Structural Constraints — 1× in this paper · explained in 2 episodes

Sources

• Hilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization
• Z-FLoc: Zero-Shot Floorplan Localization via Geometric Primitives
• BIM Informed Visual SLAM for Construction Environments

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving