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  • ViSTA-SLAM // 2509.01584
  • GPU
  • WAVE 6

THOR

THE PATHFINDER

THOR provides real-time monocular visual SLAM using Symmetric Two-view Association for robust feature matching. It estimates camera poses and builds dense local 3D point maps from RGB pairs, with a Sim(3) pose graph backend handling loop closures and global consistency. Achieving 30 FPS on RTX 4090 and 20 FPS on Jetson Orin, it's fast enough for real-time autonomous navigation. GPS-denied navigation is critical for indoor operations, tunnels, underground facilities, and contested environments — THOR provides precise 6-DoF localization and dense mapping from a single camera, requiring zero calibration.

MODULE STATUS: DEVELOPMENT

FPS (4090)

30FPS

DIVISION
ANIMA
WAVE
W6
DOMAIN
SLAM & 3D
WAVE 6 // ANIMA SUITE
FOUNDATION — VISUAL SLAM
THOR // W6 // 074/079
01THE CHALLENGE

GPS-DENIED LOCALIZATION

Indoor, tunnels, underground — no GPS. Robots must localize from cameras only.

6-DoF localization and dense mapping at real-time rates is the navigation foundation.

02THE SOLUTION

WHAT THOR DELIVERS

THOR provides real-time monocular visual SLAM using Symmetric Two-view Association. Camera poses and dense 3D point maps from RGB pairs with loop closure.

CAPABILITIES

  • Symmetric Two-view Association for robust matching
  • Dense 3D point maps from RGB pairs
  • Sim(3) pose graph with loop closure
  • 30 FPS RTX 4090, 20 FPS Jetson Orin
03ENGINEERING

WHY THIS IS HARD

Building THOR requires solving multiple coupled problems:

  1. 01Tracking during fast motion
  2. 02Loop closure in large environments
  3. 03Dense maps at real-time rates
  4. 04Robust matching under varying conditions

THOR solves these through careful architecture design and rigorous validation.

04BENCHMARKS

PROOF, NOT PROMISES

Key metrics:

PROOF, NOT PROMISES
METRICVALUE
FPS (4090)30
FPS (Jetson)20
DoF6
Loop ClosureAutomatic
05BUILD STATUS

WHAT'S BUILT TODAY

3/6 COMPONENTS COMPLETE
WHAT'S BUILT TODAY
COMPONENTSTATUSNOTES
Feature MatchingCOMPLETESymmetric Two-view
Pose GraphCOMPLETESim(3) backend
Loop ClosureIN PROGRESSLarge-scale handling
Edge DeployIN PROGRESSJetson optimization
Core modelsCOMPLETESLAM pipeline validated
API layerIN PROGRESSPose+map streaming
06APPLICATIONS

WHERE THOR DEPLOYS

  • APP_01

    INDOOR NAVIGATION

    GPS-denied localization for warehouses and buildings.

  • APP_02

    AUTONOMOUS PATROL

    Continuous mapping for security robots.

  • APP_03

    SEARCH & RESCUE

    Real-time mapping of unknown environments.

07TECHNOLOGY

UNDER THE HOOD

FOUNDATION: VISTA-SLAM

  • Symmetric Two-view Association for robust matching
  • Dense 3D point maps from RGB pairs
  • Sim(3) pose graph with loop closure

KEY INNOVATION

THOR provides real-time monocular visual SLAM using Symmetric Two-view Association. Camera poses and dense 3D point maps from RGB pairs with loop closure.

DEPLOYMENT

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

COMPUTE

PRIMARY
GPU
EDGE
Optimized inference
API
REST + streaming
08PAPERS

PAPERS

  1. [01]ViSTA-SLAM (2509.01584)