{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/multi-session-slam-with-differentiable-wide","title":"Multi-Session SLAM with Differentiable Wide-Baseline Pose Optimization","arxiv_id":"2404.15263","date":"2024-04-23","proceeding":"CVPR 2024 1","authors":["Lahav Lipson","Jia Deng"],"abstract":"We introduce a new system for Multi-Session SLAM, which tracks camera motion across multiple disjoint videos under a single global reference. Our approach couples the prediction of optical flow with solver layers to estimate camera pose. The backbone is trained end-to-end using a novel differentiable solver for wide-baseline two-view pose. The full system can connect disjoint sequences, perform visual odometry, and global optimization. Compared to existing approaches, our design is accurate and robust to catastrophic failures. Code is available at github.com/princeton-vl/MultiSlam_DiffPose","url_abs":"https://arxiv.org/abs/2404.15263v1","url_pdf":"https://arxiv.org/pdf/2404.15263v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"multi-session-slam-with-differentiable-wide","repo_url":"https://github.com/princeton-vl/multislam_diffpose","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"optical-flow-estimation","task_name":"Optical Flow Estimation"},{"task_slug":"visual-odometry","task_name":"Visual Odometry"},{"task_slug":"global-optimization","task_name":"global-optimization"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2404.15263","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}