Triangle Splatting SLAM
We present a dense RGB-D SLAM system using differentiable triangles as the 3D map representation. While 3D Gaussian Splatting has emerged as the leading method for novel-view synthesis, triangles remain the standard primitive for traditional rendering hardware, game engines, and downstream tasks requiring explicit geometry such as simulation, collision, and editing. Recent offline methods have demonstrated that an unstructured 'triangle soup' can be optimised into a photorealistic mesh via Delaunay triangulation across a set of posed images. Building upon this insight, we present the first dense SLAM system to employ Triangle Splatting to perform both tracking and mapping through online d...
| Authors | Nicholas Fry, Eric Dexheimer, Kirill Mazur et al. |
|---|---|
| Primary category | cs.CV |
| Published | 29 May 2026 |
| Last updated at source | 10 June 2026 |
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