Dominic Rosario Maggio

2 accepted papers

2026

VGGT-SLAM 2.0: Real-time Dense Feed-forward Scene Reconstruction

RSS 2026poster

We present VGGT-SLAM 2.0, a real-time RGB feed-forward SLAM system which substantially improves upon VGGT-SLAM for incrementally aligning submaps created from VGGT. Firstly, we remove high-dimensional 15-degree-of-freedom drift and planar degeneracy from VGGT-SLAM by creating a new factor graph desi…

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2025

VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold

Dominic Rosario Maggio, Hyungtae Lim, Luca Carlone

NeurIPS 2025poster

We present VGGT-SLAM, a dense RGB SLAM system constructed by incrementally and globally aligning submaps created from the feed-forward scene reconstruction approach VGGT using only uncalibrated monocular cameras. While related works align submaps using similarity transforms (i.e., translation, rotat…

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