AIGP · LingBot-Map SLAM Viewer

AIGP · SLAM VIEWER

SOURCE · —

building race

MODEL

LINGBOT-MAP

archGCT-Stream

typefeed-forward

stream fps~20

resolution518×378

window64 frames

licenseApache-2.0

about Geometric Context Transformer for streaming 3D reconstruction. Anchor context + pose-reference window + trajectory memory inside a single feed-forward pass. Designed for slow-velocity indoor capture.

RECONSTRUCTION

recording—

frames—

trajectory length—

x extent—

y extent—

z extent—

ATE rmse (NED)—

scale (NED)—

pointcloudRE-RUN NEEDED

NOTE · re-evaluation flag Pointcloud from prior run was degenerate (model checkpoint path was empty in the launch script — log shows "Failed to load pretrained weights"). Trajectory output is intact and shown here. Pointcloud needs a re-run with explicit --model_path.

PLAYBACK · streaming reconstruction order 000 / —