Conventional 3D Gaussian Splatting assumes a closed set of observations and long optimization schedules. Continual RGB-D mapping in contrast poses the problem that new observations arrive online, whil...
arXiv:2606. 29237v1 Announce Type: cross Abstract: Robust robot autonomy depends on scene representations that remain stable enough to support localization, navigation, and downstream decision making in dynamic environments.
arXiv:2609.17387v1 Announce Type: new Abstract: Real-time dense SLAM is a core capability for robotics applications that require robust localization and high- quality mapping in dynamic or fast-chang...
CGS‑SLAM is a hybrid decentralized/centralized SLAM system that enables multi‑agent 3D Gaussian Splatting reconstruction using only RGB images and inertial data. Each agent locally tracks motion with inertial priors, builds a scaled map via a monocular depth estimator, and shares keyframe encodings to facilitate dynamic keyframing and submap alignment. A central server then aligns submaps with a view‑alignment model, keeping communication costs low while achieving competitive tracking, higher rendering quality, and accurate submap alignment in GNSS‑denied environments.
arXiv:2608.16499v2 Announce Type: replace-cross Abstract: Active 3D Gaussian reconstruction fundamentally relies on selecting informative next-best views under limited sensing budgets. Existing activ...
arXiv:2607. 20785v1 Announce Type: cross Abstract: Deploying navigation systems at scale requires a recipe that minimizes sensor assumptions, generalizes across robot embodiments, and trains efficiently.
arXiv:2608.22465v1 Announce Type: new Abstract: High-fidelity free-viewpoint video (FVV) and interactive rendering increasingly rely on explicit Gaussian representations, yet practical deployment rem...
GS‑VLA introduces a lightweight, plug‑and‑play framework that uses a 4 M‑parameter 3D‑Gaussian canonicalizer to adapt frozen Vision‑Language‑Action (VLA) policies to viewpoint shifts without retraining the policy. By treating viewpoint changes as a localized novel‑view synthesis problem under a locality assumption, the method normalizes observations through a scene‑ and policy‑independent disocclusion task. Experiments on the LIBERO benchmark demonstrate that GS‑VLA recovers a large portion of performance lost due to camera displacement, improving results across different policy architectures, unseen task suites, and perturbation scales. whyItMatters":"The approach offers a computationally efficient alternative to costly fine‑tuning or generative augmentation, enabling robust VLA deployment in real‑world settings where camera configurations may vary."
arXiv:2609.20589v1 Announce Type: new Abstract: Current dense visual SLAM systems rely almost exclusively on 8-bit tonemapped Low Dynamic Range (LDR) inputs, limiting their robustness in extreme ligh...
VOIM (Voxel‑Grounded Online Instance Manager) is a training‑free system that builds open‑vocabulary 3D instance maps from RGB‑D or monocular RGB input by deferring label and instance decisions until sufficient soft evidence accumulates per voxel across views. Across four perception configurations on ScanNet++, VOIM outperforms the strongest online RGB‑D system, OVO‑SLAM, by 4.8–11.7 mIoU, and achieves 44.07 mIoU under a like‑for‑like protocol, winning all ten scenes. The method also runs unchanged on monocular RGB, matching baseline performance on Replica, and produces exportable occupancy grids that support free‑form instance queries.
Existing Gaussian-splatting-based monocular Simultaneous Localization and Mapping (SLAM) systems are either tailored to short sequences, are not real-time, or suffer from prohibitive GPU memory requirements, limiting their applicability in realistic, long-horizon scenarios. To address this, we present GLAM-SLAM, a real-time, decoupled Gaussian-splatting SLAM system designed for large-scale outdoor scenes.
arXiv:2607.02554v2 Announce Type: replace Abstract: Sparse-view neural reconstruction in outdoor driving is challenging due to narrow forward-facing trajectories and limited multi-view overlap, and m...