Hugging Face Trending Papers
Jul 23

GLAM-SLAM: Real-time Gaussian Large-scale Mapping via Flow Densification and Spatial Decomposition

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 Computer Vision
Aug 28

CGS-SLAM: Collaborative Gaussian Splatting based SLAM for Multi-Agent Reconstruction

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.

By Jean-Daniel de Ambrogi, Aladine Chetouani, Vincent Nguyen, Aur\'elien Chateigner
arXiv Computer Vision
Aug 27

PIVOT: A Multi-Trajectory Dataset and Testbed for Pose, Intrinsics, and Novel Viewpoint Evaluation in Real-World 3D Reconstruction

PIVOT is a new multi‑trajectory dataset and evaluation framework that captures real‑world scenes with diverse camera paths, preserving both sensor‑derived measured poses and COLMAP‑optimized poses along with calibrated and optimized intrinsics. It defines three benchmark families—seen vs. unseen trajectory generalization, measured vs. optimized pose sensitivity, and calibrated vs. optimized intrinsics sensitivity—and introduces a directed pose‑space Chamfer distance to assess pose coverage. The first version of PIVOT includes five scenes recorded with a DJI Mini 4 Pro and offers an open processing and Nerfstudio‑based evaluation toolchain, revealing a consistent quality gap between held‑out and unseen trajectories and significant sensitivity to pose source and camera intrinsics.

By Mary Raymond