Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM

arXiv:2608.17553v1 Announce Type: new Abstract: Cameras are ubiquitous sensors in robotics due to their compact form factor and the perceptual richness captured through visual information. Monocular SLAM enables robots to understand the environment with a minimum setup, however, it inherently suffers from scale ambiguity. A common solution is to provide multi-modal sensor configurations, such as visual-inertial systems, where scale is observable unless the robot navigates under a constant-veloci...