Haotong He

LV-GS SLAM: A Decoupled LiDAR–Visual 3D Gaussian Splatting SLAM in a Large-Scale Environment

This paper proposes LV-GS SLAM, a novel system that integrates LiDAR and visual data for incremental, large-scale reconstruction with real-time tracking, and develops a keyframe-based submap management framework that dynamically adjusts memory allocation based on both primitive density and inter-frame overlap ratio, effectively preventing GPU memory overflow.