DL-VINS-Factory integrates learned extractors (ALIKED, RaCo, SuperPoint, XFeat) with LK or LightGlue tracking in a shared Ceres VI-SLAM back-end and reports modest ATE reductions plus real-time FPS on EuRoC, NTU-VIRAL, Botanic Garden and SubT-MRS.
Closed- loop benchmarking of stereo visual-inertial slam systems: Understanding the impact of drift and latency on tracking accuracy,
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DL-VINS-Factory: A Modular Framework for Learned Visual Front-Ends in Visual-Inertial SLAM
DL-VINS-Factory integrates learned extractors (ALIKED, RaCo, SuperPoint, XFeat) with LK or LightGlue tracking in a shared Ceres VI-SLAM back-end and reports modest ATE reductions plus real-time FPS on EuRoC, NTU-VIRAL, Botanic Garden and SubT-MRS.