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.
By Zijian Wu, Jinliang Wang, Zidian Lin, Ying Song, Ziqian Lu, Hanjie Ma, Zhen Ye, Mingfeng Jiang
arXiv:2605.25059v4 Announce Type: replace
Abstract: Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally construct dense spatial representations on the fly. Em...
By Ruoyu Wang, Yong Liu, Jiahan Li, Sheng Tao, Yuhang Lin, Yukai Ma
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...
By Wenting Wang, Jiaxin Guo, Wenzhen Dong, Yun-Hui Liu, Charlie C. L. Wang, Yeung Yam
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.
EliGSiR is a continual RGB‑D mapping system that extends Gaussian splatting to handle online, bounded‑compute scenarios. It introduces Map‑Guided View Scheduling to filter redundant views, Load‑Adaptive Fidelity to adjust supervision resolution, and Targeted Geometry Growth to add structure only where needed. Experiments on Replica, TUM RGB‑D, ScanNet++ and real sensor data show that EliGSiR outperforms baselines in reconstruction quality while efficiently using the available mapping budget.
arXiv:2609.14634v1 Announce Type: new
Abstract: Recently, 3D Gaussian Splatting SLAM (3DGS-SLAM) has gained significant momentum in simultaneous localization and 3DGS scene reconstruction. In real-wo...
By Kumaran Karthik, Pramat Shastri Jois, Suresh Sundaram