MR.ScaleMaster adds a false-loop alarm and per-session Sim(3) scale estimation to enable accurate multi-agent monocular mapping, showing 7.2x ATE improvement on KITTI with up to 15 agents.
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MR.ScaleMaster: Scale-Consistent Collaborative Mapping from Crowd-Sourced Monocular Videos
MR.ScaleMaster adds a false-loop alarm and per-session Sim(3) scale estimation to enable accurate multi-agent monocular mapping, showing 7.2x ATE improvement on KITTI with up to 15 agents.