https://zinuok.github.io/tags/dense-reconstruction/Dense ReconstructionHugo Blox Builder (https://hugoblox.com)en-usThu, 05 Mar 2026 00:00:00 +0000https://zinuok.github.io/media/icon_hu_758a1e91a503d4de.pnghttps://zinuok.github.io/tags/dense-reconstruction/https://zinuok.github.io/publication/11_aimslam/Thu, 05 Mar 2026 00:00:00 +0000https://zinuok.github.io/publication/11_aimslam/<p>We propose AIM-SLAM, a dense monocular SLAM framework that leverages dense pointmap predictions from a geometric foundation model (VGGT) and adaptively prioritizes informative multi-view keyframes. Our SIGMA module retrieves a candidate keyframe set via voxel overlap and information gain and adaptively determines its size, while a joint multi-view Sim(3) optimization enforces consistent alignment across the selected views, achieving state-of-the-art pose estimation and accurate dense reconstruction with ROS integration.</p>