A precomputed lens transport model with wavelength-aware inputs, Fresnel intensity outputs, and ray occlusion masking delivers higher accuracy than polynomial baselines and runs an order of magnitude faster than full ray tracing for static symmetric lenses.
Quarterly of applied mathematics , volume =
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PRISM-SLAM adds a Plücker Ray-Distance Factor and dynamic uncertainty gating to a VFM-augmented factor graph to deliver scale-consistent metric SLAM at 30 FPS from monocular RGB.
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Precomputed Lens Transport Maps
A precomputed lens transport model with wavelength-aware inputs, Fresnel intensity outputs, and ray occlusion masking delivers higher accuracy than polynomial baselines and runs an order of magnitude faster than full ray tracing for static symmetric lenses.
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PRISM-SLAM: Probabilistic Ray-Grounded Inference for Scale-aware Metric SLAM
PRISM-SLAM adds a Plücker Ray-Distance Factor and dynamic uncertainty gating to a VFM-augmented factor graph to deliver scale-consistent metric SLAM at 30 FPS from monocular RGB.