All-St3R SLAM: Real-time RGB Dynamic SLAM with Pixel-wise Motion Masking
Overview
All-St3R SLAM removes moving objects in real-time RGB video without labels, using DUSt3R and All-Tracker for 10 FPS performance, surpassing prior dense dynamic SLAM methods (0.5-3 FPS). SLAM is critical for autonomous systems to navigate unknown environments.
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- arXiv Robotics — research abstractsAll-St3R SLAM: Real-time RGB Dynamic SLAM with Pixel-wise Motion Masking
This research proposes All-St3R SLAM, a real-time RGB dynamic SLAM framework that precisely removes moving objects at the pixel level without predefined labels or segmentation models. The system combines ego-motion prediction from DUSt3R with point tracking from All-Tracker, achieving 10 FPS performance on standard 30 FPS video streams, which significantly improves upon state-of-the-art dense dynamic SLAM approaches (0.5-3 FPS).
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