Cube-Splat: High-Fidelity 360 Gaussian Splatting SLAM via Cubemap Factorization and Adjoint-Consistent Optimization

arXiv:2609.21347 · cs.CV · Submitted 2026-09-18 · Read on arXiv

cs.CV

Submitted: 2026-09-18

Updated: 2026-09-18

Code: https://github.com/guoxf304/CubeSplat

Terminology

• Gaussian Splatting — 26× in this paper · explained in 4 episodes
• 3D Gaussian Splatting — 13× in this paper · explained in 2 episodes
• Fidelity — 13× in this paper · explained in 2 episodes
• Accuracy — 11× in this paper · explained in 1 episode
• Robustness — 9× in this paper · explained in 5 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Benchmark — 6× in this paper · explained in 2 episodes
• Consistency — 5× in this paper · explained in 3 episodes
• alpha — 5× in this paper · explained in 1 episode
• 3D Gaussian Splatting (3DGS) — 4× in this paper · explained in 4 episodes
• Aggregation — 4× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Regularization — 3× in this paper · explained in 3 episodes
• Spherical Harmonics — 2× in this paper
• Ablation Studies — 1× in this paper · explained in 1 episode
• Absolute Trajectory Error — 1× in this paper
• Adam — 1× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 1× in this paper
• Core — 1× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Gradient Flow — 1× in this paper · explained in 2 episodes
• Overlap Coefficient — 1× in this paper
• Point Clouds — 1× in this paper · explained in 2 episodes
• Simultaneous Localization and Mapping — 1× in this paper
• Sparsity — 1× in this paper · explained in 4 episodes

Sources

• 360-GS: Layout-guided Panoramic Gaussian Splatting For Indoor Roaming
• RGBD GS-ICP SLAM
• CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field
• Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras
• NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting
• 3D Gaussian Splatting for Real-Time Radiance Field Rendering
• MeSLAM: Memory Efficient SLAM based on Neural Fields
• OmniSplat: Taming Feed-Forward 3D Gaussian Splatting for Omnidirectional Images with Editable Capabilities
• Dense RGB SLAM with Neural Implicit Maps
• SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM
• Gaussian Splatting SLAM
• NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis
• ORB-SLAM: a Versatile and Accurate Monocular SLAM System
• VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
• NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields
• Point-SLAM: Dense Neural Point Cloud-based SLAM
• You Need a Transition Plane: Bridging Continuous Panoramic 3D Reconstruction with Perspective Gaussian Splatting
• Seam360GS: Seamless 360{\deg} Gaussian Splatting from Real-World Omnidirectional Images
• iMAP: Implicit Mapping and Positioning in Real-Time
• MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements

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