Author

Mateo de Mayo

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Preprint Oct 2026

RootSLAM: Square Root Bundle Adjustment for Visual-Inertial SLAM

Efficient perception is a prerequisite for the small, low-power devices targeted by robotics, mixed reality, autonomous driving, and drone applications, all of which rely on Simultaneous Localization and Mapping (SLAM) to estimate their motion within their surroundings. Learning-based SLAM systems achieve state-of-the-...

Tomás Santucci, Mateo de Mayo, Daniel Cremers et al. · 0 citations

Preprint Aug 2026

Initialization-Free Bundle Adjustment Revisited: A Controlled Experimental Study

The results suggest that the main challenge of InitFree BA is not merely minimizing OSE objectives, but obtaining projective reconstructions that admit reliable metric upgrade, a problem largely unexplored within the computer vision community.

Simon Nikolaus Weber, Mateo de Mayo, Je Hyeong Hong et al. · 0 citations