# SLAMFormer-∞: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing

arXiv: https://arxiv.org/abs/2608.03429 · HTML: https://mlsanity.com/paper/2608.03429/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 41 references that are in the map.
- First posted on arXiv 4 Aug 2026.

## Builds on (most cited first, 30 of 36)

- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [MegaDepth: Learning Single-View Depth Prediction from Internet Photos](https://mlsanity.com/paper/1804.00607/) (2018)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding](https://mlsanity.com/paper/2011.02523/) (2020)
- [Continuous 3D Perception Model with Persistent State](https://mlsanity.com/paper/2501.12387/) (2025)
- [BlendedMVS: A Large-scale Dataset for Generalized Multi-view Stereo Networks](https://mlsanity.com/paper/1911.10127/) (2019)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data](https://mlsanity.com/paper/2111.08897/) (2021)
- [Gaussian Splatting SLAM](https://mlsanity.com/paper/2312.06741/) (2023)
- [Fast3R: Towards 3D Reconstruction of 1000+ Images in One Forward Pass](https://mlsanity.com/paper/2501.13928/) (2025)
- [Virtual KITTI 2](https://mlsanity.com/paper/2001.10773/) (2020)
- [Virtual Worlds as Proxy for Multi-Object Tracking Analysis](https://mlsanity.com/paper/1605.06457/) (2016)
- [π3: Permutation-Equivariant Visual Geometry Learning](https://mlsanity.com/paper/2507.13347/) (2025)
- [MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors](https://mlsanity.com/paper/2412.12392/) (2024)
- [DeMoN: Depth and Motion Network for Learning Monocular Stereo](https://mlsanity.com/paper/1612.02401/) (2016)
- [Deep Patch Visual Odometry](https://mlsanity.com/paper/2208.04726/) (2022)
- [Streaming 4D Visual Geometry Transformer](https://mlsanity.com/paper/2507.11539/) (2025)
- [VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold](https://mlsanity.com/paper/2505.12549/) (2025)
- [TTT3R: 3D Reconstruction as Test-Time Training](https://mlsanity.com/paper/2509.26645/) (2025)
- [VGGT-Long: Chunk it, Loop it, Align it -- Pushing VGGT's Limits on Kilometer-scale Long RGB Sequences](https://mlsanity.com/paper/2507.16443/) (2025)
- [Habitat-Matterport 3D Semantics Dataset](https://mlsanity.com/paper/2210.05633/) (2022)
- [SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videos](https://mlsanity.com/paper/2412.09401/) (2024)
- [Deep Patch Visual SLAM](https://mlsanity.com/paper/2408.01654/) (2024)
- [LDSO: Direct Sparse Odometry with Loop Closure](https://mlsanity.com/paper/1808.01111/) (2018)
- [LingBot-Map: Geometric Context Transformer for Streaming 3D Reconstruction](https://mlsanity.com/paper/2604.14141/) (2026)

## Built on by (most cited first, 1 of 1)

- [Revisiting Local Context for Long-Horizon Streaming 3D Reconstruction](https://mlsanity.com/paper/2608.27529/) (2026)

## Abstract (arXiv)

We introduce the Infinite SLAM Transformer (SLAMFormer-∞), the first geometric transformer capable of supporting both long-range frontend and backend processing without an explicit distance bound. Instead of relying on a first-frame-anchored formulation, SLAMFormer-∞ employs memory conditions to define flexible coordinate systems and scales for input frames, enabling more expressive structural conditioning. Built upon this formulation, the frontend preserves efficient local computation, while the backend jointly optimizes long-range trajectories and scene geometry in a globally consistent manner. Experimental results demonstrate that SLAMFormer-∞ achieves superior or highly competitive performance in both trajectory estimation and scene reconstruction across large-scale datasets. Notably, SLAMFormer-∞ generalizes to extremely long trajectories, successfully operating on sequences exceeding 17km.