The camera pose is the most critical piece of information about the geometry of a space, which is why estimating it for every frame is the real advance.

Sequoia Professor of Computer Science at Stanford

And I do believe Atlas is a significant step forward because now with every single frame, you have a you can generate an estimate a important piece of information, which is the the view viewpoint, the camera pose. And that is the most critical information one needs about the geometry of the of the space.