GlORIE-SLAM: An Efficient RGB-only SLAM System with Globally Optimized Deformable Point Cloud Mapping

GlORIE-SLAM proposes an efficient RGB-only dense SLAM system that uses a flexible neural point cloud scene representation to achieve globally consistent mapping and pose estimation. It introduces a novel Disparity, Scale and Pose Optimization (DSPO) layer that tightly couples monocular depth priors into the bundle adjustment to improve reconstruction accuracy.