SLAMForge Desktop 3.1.0-beta.2

SLAMForge Desktop 3.1.0-beta.2

This beta packages the rewritten SLAM tracking and mapping pipeline used by the current SLAMForge
source. Users of 3.1.0-beta.1 should replace the complete extracted application directory; the old
Windows ZIP does not contain these algorithm changes.

Downloads

• SLAMForge-Desktop-3.1.0-beta.2-Windows-x64.zip — portable Windows 10/11 x64 package.
• SLAMForge-Desktop-3.1.0-beta.2-Linux-x86_64.AppImage — portable Linux x86_64 application.
• SHA256SUMS.txt — checksums for both packages.

SLAM reliability update

• Robust PnP, optical-flow-assisted tracking, essential-matrix recovery, and recovery after
  temporary tracking loss.
• Safer keyframe creation, multi-view triangulation, pose synchronization, and deterministic
  offline local mapping.
• Stable Ceres local bundle adjustment that excludes underconstrained landmarks and invalid camera
  projections.
• Multi-loop geometric verification and Sim(3) drift correction, with a deterministic fallback that
  works in the portable packages without FBOW or g2o.
• Stable trajectory export and sparse-map outlier filtering.

On the 4,757-frame reference video used for this update, beta.2 exports 4,554 poses and reconstructs
the complete closed route without the repeated dense-Cholesky failures observed with beta.1.

Desktop workflow

• Drag or select MP4, MOV, AVI, MKV, and M4V video files.
• Select a calibrated SLAMForge camera YAML and writable result directory.
• Run or cancel the isolated SLAM worker while monitoring progress and logs.
• Inspect the completed sparse map and camera trajectory in the interactive result view.
• Export ASCII PLY, TUM/KITTI/EuRoC trajectory output, and a persistent run log.
• Process locally without uploading the selected video or generated map.

Important limitations

• Accurate camera calibration is required and is not inferred automatically.
• Monocular reconstruction has unknown absolute scale.
• Output is a sparse landmark map and camera path, not a dense surface model.
• Low texture, blur, pure rotation, repeated patterns, or insufficient parallax can still degrade
  initialization and tracking.
• Optional FBOW/g2o acceleration backends are not bundled; the built-in geometric loop-closing
  fallback remains enabled.
• The Windows beta is unsigned and may trigger a SmartScreen warning.

SLAMForge is distributed under GPL-3.0-only. Please report reproducible beta issues with the video
metadata, camera configuration, run.log, operating system, and exact package filename.