Robust and Efficient Monocular 3D Gaussian SLAM for Kilometer-Scale Outdoor Scenes
Scaling monocular 3D Gaussian Splatting (3DGS) SLAM to kilometer-level outdoor environments poses two tightly coupled challenges: fragile long-term pose tracking and excessive memory overhead during large-scale mapping. In this paper, we propose KiloGS-SLAM, a highly efficient and robust monocular 3DGS-SLAM system that jointly addresses both bottlenecks. Since high-fidelity scene reconstruction fundamentally relies on drift-free camera poses, we first introduce a motion-adaptive hybrid tracking module. This module features a condition-triggered three-tier solving pipeline. It dynamically switches between Essential matrix and PnP models to handle geometric degeneracies. An on-demand founda...
| Authors | Sicheng Yu, Dongxu Shen, Beizhen Zhao et al. |
|---|---|
| Primary category | cs.CV |
| Published | 29 June 2026 |
| Last updated at source | 29 June 2026 |
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