Research map / 3D vision / Depth and stereo
DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| add global bundle adjustment backend with loop closure (ablation) | DROID-SLAM odometry · EuRoC monocular | ATE: 0.186 -> 0.022 | Helped |
| add global optimization and stereo input (ablation) | DROID-SLAM · TartanAir validation | ATE | Helped |
| add global context via spatial pooling in GRU (ablation) | DROID-SLAM update operator · TartanAir validation | ATE | Helped |
| train with DBA layer instead of training on flow and applying BA at test (ablation) | DROID-SLAM · TartanAir validation | ATE / failure rate | Helped |
| DROID-SLAM vs top competition entries | SLAM · TartanAir test mono | normalized RPE: 0.340 -> 0.129 | Helped |
| DROID-SLAM vs ORB-SLAM3 stereo | SLAM · EuRoC stereo | ATE: 0.084 -> 0.024 | Helped |
| DROID-SLAM vs deep baselines | SLAM · TUM-RGBD | ATE: 0.233 -> 0.038 | Helped |
Closest papers by meaning
- Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular Stereo and RGB-D Cameras (CVPR 2024 · similarity 0.83)
- SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videos (CVPR 2025 · similarity 0.82)
- CTO-SLAM: Contour Tracking for Object-Level Robust 4D SLAM (AAAI 2024 · similarity 0.82)
- IBD-SLAM: Learning Image-Based Depth Fusion for Generalizable SLAM (CVPR 2024 · similarity 0.82)
- VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold (NeurIPS 2025 · similarity 0.81)
- Loopy-SLAM: Dense Neural SLAM with Loop Closures (CVPR 2024 · similarity 0.81)
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