PRISM-SLAM achieves scale-aware metric SLAM from RGB input by anchoring VFM depth priors with Plücker ray-distance factors in a factor graph and using dynamic scene uncertainty gating, producing metric trajectories whose SE(3) ATE matches oracle-aligned Sim(3) error on TUM and 7-Scenes benchmarks.
IEEE Robotics and Automation Letters , volume =
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PRISM-SLAM: Probabilistic Ray-Grounded Inference for Scale-aware Metric SLAM
PRISM-SLAM achieves scale-aware metric SLAM from RGB input by anchoring VFM depth priors with Plücker ray-distance factors in a factor graph and using dynamic scene uncertainty gating, producing metric trajectories whose SE(3) ATE matches oracle-aligned Sim(3) error on TUM and 7-Scenes benchmarks.