{"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/multimodal-fusion-slam-with-fourier-attention","title":"Multimodal Fusion SLAM with Fourier Attention","arxiv_id":"2506.18204","date":"2025-06-22","proceeding":null,"authors":["Youjie Zhou","Guofeng Mei","Yiming Wang","Yi Wan","Fabio Poiesi"],"abstract":"Visual SLAM is particularly challenging in environments affected by noise, varying lighting conditions, and darkness. Learning-based optical flow algorithms can leverage multiple modalities to address these challenges, but traditional optical flow-based visual SLAM approaches often require significant computational resources.To overcome this limitation, we propose FMF-SLAM, an efficient multimodal fusion SLAM method that utilizes fast Fourier transform (FFT) to enhance the algorithm efficiency. Specifically, we introduce a novel Fourier-based self-attention and cross-attention mechanism to extract features from RGB and depth signals. We further enhance the interaction of multimodal features by incorporating multi-scale knowledge distillation across modalities. We also demonstrate the practical feasibility of FMF-SLAM in real-world scenarios with real time performance by integrating it with a security robot by fusing with a global positioning module GNSS-RTK and global Bundle Adjustment. Our approach is validated using video sequences from TUM, TartanAir, and our real-world datasets, showcasing state-of-the-art performance under noisy, varying lighting, and dark conditions.Our code and datasets are available at https://github.com/youjie-zhou/FMF-SLAM.git.","url_abs":"https://arxiv.org/abs/2506.18204v2","url_pdf":"https://arxiv.org/pdf/2506.18204v2.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":"multimodal-fusion-slam-with-fourier-attention","repo_url":"https://github.com/youjie-zhou/fmf-slam","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"knowledge-distillation","task_name":"Knowledge Distillation"},{"task_slug":"optical-flow-estimation","task_name":"Optical Flow Estimation"}],"methods":[{"method_slug":"knowledge-distillation","method_name":"Knowledge Distillation"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}