Author

Zheng Huang

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Open access Jul 2026

KP-SLAM: Joint Flow-Pointmap Prior Synchronization for Robust Consistent Dense Mapping

KP-SLAM is proposed, which predicts dense optical flow and paired pointmap priors from a shared representation and incorporates them into the same BA backend and introduces a Depth-Scale-Pose-to-Pointmap (DSPP) objective that relates optimized inverse depth, edge-wise relative scale, and camera pose to paired pointmap constraints.

Song Gao, Xinyu Huang, Zheng Huang et al. · Symmetry · 0 citations