LightSplat: Real-Time High-Fidelity 3D Gaussian SLAM with Loop Closure
SLAM systems based on 3D Gaussian Splatting (3DGS) have recently demonstrated promising reconstruction accuracy for dense 3D scene representations. However, current 3DGS systems struggle to meet the strict demands of real-world deployments due to severe limitations in operational performance and map adaptability. To this end, we propose LightSplat, a hybrid-representation RGB-D SLAM framework. It synergizes local sparse features for robust and fast tracking with a dual-thread backend that progressively constructs dense Gaussian submaps. Crucially, we enable online loop closure through feature-accelerated 3DGS registration, refining overall map consistency through pose graph optimization. ...
| Authors | Junze Bao, Ye Gao, Yiming Huang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 September 2026 |
| Last updated at source | 7 September 2026 |
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