arXiv Computer Vision
Pow3R-SLAM: Real-Time RGB-D SLAM with 3D Reconstruction Priors
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EliGSiR: Continual RGB-D Mapping with Gaussian Splatting under Bounded Compute
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.