FLoTS-SLAM uses optical-flow residuals to hit 0.73 DM-IoU in dynamic monocular SLAM
zhenjun_zhao · x · 2026-10-21
A new monocular RGB SLAM system derives per-pixel motion uncertainty from the residual between optical flow and camera-motion-induced flow, then runs two-stage optimization: pose estimation from high-confidence pixels, followed by joint pose-and-depth refinement with re-anchored dynamic pixels. It achieves 0.73 overall DM-IoU on dynamic mask evaluation, well ahead of DROID-W (0.54), MonST3R (0.46) and WildGS-SLAM (0.36).
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