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ViSTA-SLAM: Visual SLAM with Symmetric Two-view Association

Ganlin Zhang^1,2 · Shenhan Qian^1,2 · Xi Wang^1,2,3 · Daniel Cremers^1,2

¹ TU Munich, ² MCML, ³ ETH Zurich

Paper | Project Website

ViSTA-SLAM is a real-time monocular dense SLAM pipeline that combines a Symmetric Two-view Association (STA) frontend with Sim(3) pose graph optimization and loop closure, enabling accurate camera trajectories and high-quality 3D scene reconstruction from RGB inputs.

Online visualization

Pose graph and final results visualization

Citation

If you find our code or paper useful, please cite

@misc{zhang2025vistaslam,
      title={{ViSTA-SLAM}: Visual {SLAM} with Symmetric Two-view Association}, 
      author={Ganlin Zhang and Shenhan Qian and Xi Wang and Daniel Cremers},
      year={2025},
      eprint={2509.01584},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2509.01584}, 
}

Contact

Contact Ganlin Zhang for questions, comments and reporting bugs.