SLAMFormer-infty: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing

arXiv:2608.03429v1 Announce Type: new Abstract: We introduce the Infinite SLAM Transformer (SLAMFormer-infty), the first geometric transformer capable of supporting both long-range frontend and backend processing without an explicit distance bound. Instead of relying on a first-frame-anchored formulation, SLAMFormer-infty employs memory conditions to define flexible coordinate systems and scales for input frames, enabling more expressive structural conditioning. Built upon this formulation, the frontend preserves efficient local computation, while the backend jointly optimizes long-range trajectories and scene geometry in a globally consistent manner. Experimental results demonstrate that SLAMFormer-infty achieves superior or highly competitive performance in both trajectory estimation and scene reconstruction across large-scale datasets. Notably, SLAMFormer-infty generalizes to extremely long trajectories, successfully operating on sequences exceeding 17km.

Source: arXiv cs.CV | 2026-08-05