VGGT-GS SLAM: Uncalibrated Monocular Gaussian Splatting SLAM with Feed-Forward Priors

arXiv:2609.19628 · cs.CV · Submitted 2026-09-17 · Read on arXiv

cs.CV

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Calibration — 37× in this paper · explained in 7 episodes
• Alignment — 17× in this paper · explained in 1 episode
• Verification — 16× in this paper · explained in 2 episodes
• Gaussian Splatting — 12× in this paper · explained in 4 episodes
• 3D Gaussian Splatting — 5× in this paper · explained in 2 episodes
• Consistency — 5× in this paper · explained in 3 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Accuracy — 4× in this paper · explained in 1 episode
• Gaussian-Native Alignment — 4× in this paper
• Benchmark — 3× in this paper · explained in 2 episodes
• Verifier — 3× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• 3D Gaussian Splatting (3DGS) — 1× in this paper · explained in 4 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Degeneracy — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• GeoGS-SLAM: Online Monocular Reconstruction Using Gaussian Splatting with Geometric Priors
• VGGT-SLAM 2.0: Real-time Dense Feed-forward Scene Reconstruction
• Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting
• GLC-SLAM: Gaussian Splatting SLAM with Efficient Loop Closure
• AIM-SLAM: Dense Monocular SLAM via Adaptive and Informative Multi-View Keyframe Prioritization with Foundation Model
• EC3R-SLAM: Efficient and Consistent Monocular Dense SLAM with Feed-Forward 3D Reconstruction
• The Replica Dataset: A Digital Replica of Indoor Spaces
• GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAM
• Depth Anything 3: Recovering the Visual Space from Any Views

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