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  • Dynamic Visual SLAM // 2512.06868
  • GPU
  • WAVE 6

BALDUR

THE DYNAMIC GUARD

BALDUR extends visual SLAM to dynamic environments where people walk, vehicles move, and objects change position. Using geometric patch-based bundle adjustment combined with reconstruction models, it separates static structure from dynamic objects in real-time, maintaining accurate localization even in crowded scenes. Real-world environments are never static — patrol robots navigate through crowds, warehouse robots work alongside humans, and field robots operate near moving vehicles. BALDUR ensures SLAM doesn't break when the world changes around the robot.

MODULE STATUS: DEVELOPMENT

Dynamic Separation

DYN

DIVISION
ANIMA
WAVE
W6
DOMAIN
SLAM & 3D
WAVE 6 // ANIMA SUITE
FOUNDATION — DYNAMIC SLAM
BALDUR // W6 // 006/079
01THE CHALLENGE

THE WORLD NEVER STAYS STILL

Real environments have moving people, vehicles, and objects. Standard SLAM breaks when the world changes.

Patrol robots navigate crowds, warehouse robots work with humans — dynamic SLAM is essential.

02THE SOLUTION

WHAT BALDUR DELIVERS

BALDUR extends visual SLAM to dynamic environments with geometric patch-based bundle adjustment separating static structure from dynamic objects.

CAPABILITIES

  • Geometric patch-based bundle adjustment
  • Static/dynamic object separation
  • Accurate localization in crowded scenes
  • Real-time dynamic environment handling
03ENGINEERING

WHY THIS IS HARD

Building BALDUR requires solving multiple coupled problems:

  1. 01Separating moving objects from static structure in real-time
  2. 02Maintaining map consistency with frequent scene changes
  3. 03Handling partial occlusions from dynamic objects
  4. 04Robust tracking through crowded environments

BALDUR solves these through careful architecture design and rigorous validation.

04BENCHMARKS

PROOF, NOT PROMISES

Key metrics:

PROOF, NOT PROMISES
METRICVALUE
Dynamic SeparationReal-time
Crowd HandlingYes
AccuracySub-cm drift
BackendGPU
05BUILD STATUS

WHAT'S BUILT TODAY

3/6 COMPONENTS COMPLETE
WHAT'S BUILT TODAY
COMPONENTSTATUSNOTES
Static/Dynamic SepCOMPLETEPatch-based separation
Bundle AdjustmentCOMPLETEGeometric patch BA
Dynamic TrackingIN PROGRESSMulti-object tracking
Crowd ModeIN PROGRESSDense crowd handling
Core modelsCOMPLETEDynamic SLAM validated
API layerIN PROGRESSDynamic map streaming
06APPLICATIONS

WHERE BALDUR DEPLOYS

  • APP_01

    WAREHOUSE OPS

    Navigation alongside human workers and forklifts.

  • APP_02

    PATROL ROBOTS

    Navigate through crowds without losing localization.

  • APP_03

    URBAN AUTONOMY

    Driving through traffic with moving vehicles.

07TECHNOLOGY

UNDER THE HOOD

FOUNDATION: DYNAMIC VISUAL SLAM

  • Geometric patch-based bundle adjustment
  • Static/dynamic object separation
  • Accurate localization in crowded scenes

KEY INNOVATION

BALDUR extends visual SLAM to dynamic environments with geometric patch-based bundle adjustment separating static structure from dynamic objects.

DEPLOYMENT

  • REST API
  • Docker containerized
  • Prometheus metrics
  • Configurable backends

COMPUTE

PRIMARY
GPU
EDGE
Optimized inference
API
REST + streaming
08PAPERS

PAPERS

  1. [01]Dynamic Visual SLAM (2512.06868)