MF2-SLAM:A geometrically constrained framework for robust SLAM via multi-scale feature fusion
MF2-SLAM:A geometrically constrained framework for robust SLAM via multi-scale feature fusion
摘要
关键词
Plane-aware mapping/Manhattan world/Surfel fusion/Visual SLAMKey words
Plane-aware mapping/Manhattan world/Surfel fusion/Visual SLAM引用本文复制引用
Xiangyu Li,Baoqi Huang,Bing Jia,Lifei Hao,Hao Gong,Zhenwei Shi..MF2-SLAM:A geometrically constrained framework for robust SLAM via multi-scale feature fusion[J].防务技术,2026,58(4):119-135,17.基金项目
This work was supported in part by the"Unveiling the List and Appointing the Best"Project under the Science and Technology"Breakthrough"Project of Inner Mongolia A.R.of China(Grant Nos.2025KJTW0010 and 2025KJTW0021),in part by the Science and Technology Plan Project of Inner Mongolia A.R.of China(Grant Nos.2024KJHZ0003,2023KJHZ0016 and 2025YFHH0124),in part by the Natural Science Foundation of Inner Mongolia A.R.of China Grant 2023MS06004,in part by the Ordos Science and Technology Plan(Grant No.YF20240029),in part by the Industry-Commis-sioned Project(No.NMGMZ-ZB-20250714),in part by the fund of supporting the reform and development of local universities(Disciplinary construction),in part by the fund of First-class Discipline Special Research Project of Inner Mongolia A.R.of China(Grant No.YLXKZX ND-036),and in part by Program for Young Talents of Science and Technology in Universities of Inner Mongolia A.R.of China under Grant NJYT25011. （Grant Nos.2025KJTW0010 and 2025KJTW0021）
