arxivcs.RO2026-07-19
VIDAR: Visual-Inertial Dense Alignment and Reconstruction via a Geometric Foundation Model
Diyari Mohammed Salih, Lingxiang Hu, Naima AitOufroukh-Mammar, Fabien Bonardi
Monocular foundation models provide dense geometry but usually lack a stable metric scale. This paper presents VIDAR, a visual-inertial dense reconstruction framework that couples SVO+IMU odometry with Depth Anything 3. VIDAR uses the visual-inertial front end as a metric anchor:…