ArborSplat: Online Semantic Gaussian Splatting SLAM for Orchards

arXiv:2609.26315 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Gaussian Splatting — 15× in this paper · explained in 4 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• 3D Gaussian Splatting — 4× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 4× in this paper
• Point Clouds — 3× in this paper · explained in 2 episodes
• 3D Gaussian Splatting (3DGS) — 2× in this paper · explained in 4 episodes
• Alignment — 2× in this paper · explained in 1 episode
• International Conference on Robotics and Automation — 2× in this paper
• alpha — 2× in this paper · explained in 1 episode
• AND NOVEL VIEWS — 1× in this paper
• Ablation study — 1× in this paper · explained in 1 episode
• European Conference on Computer Vision — 1× in this paper
• Fidelity — 1× in this paper · explained in 2 episodes
• M I O U ON TRAINING VIEWS — 1× in this paper
• Pruning — 1× in this paper · explained in 4 episodes

Sources

• Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting
• GaussLite: Online Task-Conditioned 3D Gaussian Splatting for Real-Time Robotic Mapping
• Active Semantic Mapping of Horticultural Environments Using Gaussian Splatting

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