LeanGate is a lightweight feed-forward network that predicts geometric utility scores to skip over 90% of redundant frames in GFM-based monocular SLAM, reducing tracking FLOPs by 85% and achieving 5x speedup while maintaining accuracy.
Key.net: Keypoint detection by handcrafted and learned cnn filters
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Accelerating Transformer-Based Monocular SLAM via Geometric Utility Scoring
LeanGate is a lightweight feed-forward network that predicts geometric utility scores to skip over 90% of redundant frames in GFM-based monocular SLAM, reducing tracking FLOPs by 85% and achieving 5x speedup while maintaining accuracy.