Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking

arXiv:2609.25746 · cs.RO, cs.CV · Submitted 2026-09-22 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Gaussian Splatting — 10× in this paper · explained in 4 episodes
• Degeneracy — 5× in this paper · explained in 3 episodes
• 3D Gaussian Splatting — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Alignment — 3× in this paper · explained in 1 episode
• Bundle Adjustment — 3× in this paper
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Decoupling — 3× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• 3D Gaussian Splatting (3DGS) — 2× in this paper · explained in 4 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Point Clouds — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes

Sources

• Spectral GS-SLAM: Observability-Aware, Degeneracy-Robust Tracking for Real-Time 3D Gaussian Splatting SLAM
• G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM
• FeatureSLAM: Feature-enriched 3D gaussian splatting SLAM in real time
• The Replica Dataset: A Digital Replica of Indoor Spaces
• Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting

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