MipSLAM: Alias-Free Gaussian Splatting SLAM
This paper introduces MipSLAM, a frequency-aware 3D Gaussian Splatting (3DGS) SLAM framework capable of high-fidelity anti-aliased novel view synthesis and robust pose estimation under varying camera configurations. Existing 3DGS-based SLAM systems often suffer from aliasing artifacts and trajectory drift due to inadequate filtering and purely spatial optimization. To overcome these limitations, we propose an Elliptical Adaptive Anti-aliasing (EAA) algorithm that approximates Gaussian contributions via geometry-aware numerical integration, avoiding costly analytic computation. Furthermore, we present a Spectral-Aware Pose Graph Optimization (SA-PGO) module that reformulates trajectory est...
| Authors | Yingzhao Li, Yan Li, Shixiong Tian et al. |
|---|---|
| Primary category | cs.CV |
| Published | 7 March 2026 |
| Last updated at source | 31 May 2026 |
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