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Noctif3R: Feed-Forward Monocular Real-Time SLAM for Photon-Limited Scenes on Embedded Hardware

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Robots carrying out tasks in dark environments need to localize from a single RGB camera, in light so low that the per-pixel signal approaches the sensor's own noise, on a power-constrained onboard computer, in real time. Each of these constraints has matured pipelines, but the intersection does not. Offline low-light reconstruction now recovers structure below -4 dB but is far too slow to run in real time, while the real-time monocular systems a robot can actually carry (DROID-SLAM, DPV-SLAM, etc.) degrade or fail when SNR gets low. We measured how they fail: across the nine lowest darkness l

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