I'd really like to see this coupled with some SLAM techniques to essentially allow really accurate, long-range outdoor scene mapping with nothing but a cell pho

I'd really like to see this coupled with some SLAM techniques to essentially allow really accurate, long-range outdoor scene mapping with nothing but a cell phone. A small panning video of city street, right now, can generate a pretty damn accurate (for some use cases) pointcloud, but the position accuracy falls off as you try to go any large distance away from the start point, dude to the dead-reckoning drift that essentially happens here. But if you could pipe real GPS and synthesized heading (from gyros/accel/megnetometers) from the phone the images were captured on into the transformer with the images, it would instantly and greatly improve the resultant accuracy since it would now have those camera parameters 'ground truth'd'. I think then this technique could nearly start to rival what you need a $3-10k LIDAR camera to do right now. There are a lot of 'archival' and architecture study fields where absolute precision isn't as important as just getting 'full' scans of an area without missing patches, and speed is a factor. Walking around with a LIDAR camera can really suck compared to just a phone, and this technique would have no problem with multiple people using multiple phones to generate the input.