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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...
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:2611.07081v1 Announce Type: new Abstract: Multi-perspective-camera systems are widely adopted since they provide broad visual coverage for autonomous driving, motivating the synthesis of a unif...
HoloRecon proposes a panoramic reconstruction framework that merges ORB-based sparse mapping with a fine-tuned feed-forward model to achieve accurate localization and globally consistent dense mapping over long sequences. By using predicted local geometry for 3D verification of feature matches, the method establishes long-range camera constraints even between distant revisits, calibrates depths with sparse landmarks, and optimizes a global pose graph. The authors also introduce PanoRecon, a seven-scene benchmark for evaluating global consistency, and report that HoloRecon achieves the lowest mean absolute trajectory error and high F‑1 Score among evaluated methods.
The paper introduces a reliability-regulated trajectory optimization framework for progressive COLMAP‑free 3D Gaussian Splatting (3DGS). It uses a self‑supervised bidirectional cycle‑consistency mechanism to control camera trajectory estimation through forward motion propagation and retrospective trajectory correction, thereby reducing error compounding without external priors. Experiments on Tanks and Temples and CO3D‑V2 demonstrate improved camera trajectory accuracy and novel‑view rendering quality compared to existing unposed baselines.
arXiv:2608.29003v1 Announce Type: cross Abstract: In dynamic and unstructured environments, conventional SLAM systems generally suffer from significant accuracy degeneration due to their static assum...