DUDG-SLAM: Dynamic Replay and Depth-Uncertainty-Guided Gaussian SLAM for Robust RGB-D Reconstruction

Abstract

RGB-D SLAM systems based on 3D Gaussian Splatting (3DGS) often suffer from map degradation caused by diminishing historical supervision, noisy depth observations, and local-window optimization during online reconstruction. To address these issues, we propose DUDG-SLAM, a Dynamic Replay and Depth-Uncertainty-Guided Gaussian SLAM framework. The proposed method selectively replays historical keyframes according to reconstruction error, forgetting degree, and Gaussian visibility, thereby restoring supervision in previously reconstructed regions. In addition, RGB-D sensor depth is retained as the primary geometric constraint, while scale-aligned Depth Pro predictions are introduced only in regions with missing or unreliable sensor depth. A pixel-wise uncertainty-weighted log-depth loss is further designed to reduce the influence of noisy depth observations and unreliable depth boundaries. Experiments on Replica and TUM RGB-D show that DUDG-SLAM improves rendering quality, trajectory accuracy, and reconstruction robustness. Compared with the baseline, DUDG-SLAM consistently improves PSNR and SSIM while reducing LPIPS and ATE.