arXiv:2611.11825v1 Announce Type: new
Abstract: Combining video generation, dynamic reconstruction and monocular SLAM requires consistent coordinates, explicit handling of missing outputs and predictable memory use. We present AcrossVAM3.0, an offline system that converts text, images or monocular RGB video into a versioned point representation. Frozen components run sequentially on one GPU; map corrections update cameras, points and trajectories together. The coordination layer adds no neural parameters. Three fresh input-mode runs completed with a maximum sampled task-process-tree GPU footprint of 17.14 GB. In a frozen 16-scene video suite, every scene yielded a 4D reconstruction and 15 yielded a non-empty SLAM map. Strict cross-window matching reduced local surface error but lost long-range track coverage on TAP-Vid-DAVIS. We therefore developed multi-hypothesis adaptive surface chaining (MHAC), which retains several candidate matches and an explicit missing state. After selection on disjoint development data, MHAC improved Average Jaccard over a position-only baseline by 0.1394 on a frozen ten-video holdout (95% bootstrap interval [0.1074,0.1689]). Across 265 RoboTAP videos, the mean paired gain was 0.0610 ([0.0510,0.0715]), with 215 wins, one tie and 49 losses. These results support resource-bounded scene construction and an external tracking gain under the tested protocol. They do not establish metric scale, semantic identity or high-fidelity novel-view rendering.
Abstract: Combining video generation, dynamic reconstruction and monocular SLAM requires consistent coordinates, explicit handling of missing outputs and predictable memory use. We present AcrossVAM3.0, an offline system that converts text, images or monocular RGB video into a versioned point representation. Frozen components run sequentially on one GPU; map corrections update cameras, points and trajectories together. The coordination layer adds no neural parameters. Three fresh input-mode runs completed with a maximum sampled task-process-tree GPU footprint of 17.14 GB. In a frozen 16-scene video suite, every scene yielded a 4D reconstruction and 15 yielded a non-empty SLAM map. Strict cross-window matching reduced local surface error but lost long-range track coverage on TAP-Vid-DAVIS. We therefore developed multi-hypothesis adaptive surface chaining (MHAC), which retains several candidate matches and an explicit missing state. After selection on disjoint development data, MHAC improved Average Jaccard over a position-only baseline by 0.1394 on a frozen ten-video holdout (95% bootstrap interval [0.1074,0.1689]). Across 265 RoboTAP videos, the mean paired gain was 0.0610 ([0.0510,0.0715]), with 215 wins, one tie and 49 losses. These results support resource-bounded scene construction and an external tracking gain under the tested protocol. They do not establish metric scale, semantic identity or high-fidelity novel-view rendering.
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ACROSSVAM3.0: Resource-Bounded 4D Scene Construction and Adaptive Surface Association