Preprint
Aug 2026
UniSim-SLAM: Feed-Forward SLAM with Unified Sim(3) Optimization
This work introduces UniSim-SLAM, an integrated system that runs lightweight two-view keyframe tracking in the frontend and performs periodic multi-view submap refinement in the backend, and forms a unified multi-level factor graph on $Sim(3) that jointly optimizes global keyframe poses and submap poses.
Inha Lee, Dongjae Jeong, Junhee Lee et al.
· 1 citation