ScaRF-SLAM decouples classical visual SLAM tracking from GFM mapping and adds lightweight scale optimization across submaps to achieve higher trajectory accuracy and 10-20% better reconstruction precision on building-scale indoor and outdoor datasets.
LASER: Layer-Wise Scale Alignment for Training-Free Streaming 4D Reconstruction,
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ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM
ScaRF-SLAM decouples classical visual SLAM tracking from GFM mapping and adds lightweight scale optimization across submaps to achieve higher trajectory accuracy and 10-20% better reconstruction precision on building-scale indoor and outdoor datasets.