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DAVIO: Dense Monocular-Inertial SLAM with Feed-Forward Initialization and Pose-Conditioned Mapping

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

A camera and an IMU are the minimal sensor setup for metric localization and dense mapping, yet classical visual--inertial filters must wait for parallax before they start and then retain only sparse landmarks. Feed-forward geometry models, in contrast, predict dense structure from a few images but provide neither metric scale nor gravity. We present DAVIO, which uses a single multi-view depth model, Depth Anything~3, for both start-up and mapping. At start-up, a five-image window and preintegrated IMU measurements form a feature-free linear system. Its robust, conditioning-checked solution bo

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