Author

Dang Tuan

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Preprint Aug 2026

Geometry-Aware Online Mapping for 3D Gaussian Splatting SLAM

This work revisits 3D Gaussian Splatting heuristics in a decoupled 3DGS-SLAM setting and proposes three geometry-aware methods that operate in the mapping thread: transmittance-preserving densification, camera-aware scale initialization from depth and intrinsics, and error-guided densification that focuses new primitives on high-residual regions.

Thai Luu, Quan Tran, Hieu Phan et al. · 0 citations