Accelerating Transformer-Based Monocular SLAM via Geometric Utility Scoring

arXiv:2604.08718v1 Announce Type: cross Abstract: Geometric Foundation Models (GFMs) have recently advanced monocular SLAM by providing robust, calibration-free 3D priors. However, deploying these models on dense video streams introduces significant computational redundancy. Current GFM-based SLAM systems typically rely on post hoc keyframe selection. Because of this, they must perform expensive dense geometric decoding simply to determine whether a frame contains novel geometry, resulting in la