SCOUT-SLAM: Structurally-Coupled Dual Uncertainty-Aware 3DGS SLAM in the Wild
Recently, 3D Gaussian Splatting SLAM (3DGS-SLAM) has gained significant momentum in simultaneous localization and 3DGS scene reconstruction. In real-world scenarios with rapid camera motion and cluttered dynamic environments, existing methods rely on the stability of the underlying scene reconstruction to model uncertainty. This leads to a circular dependency between camera tracking accuracy and reconstruction quality: reconstruction instabilities degrade uncertainty modeling, which affects accurate camera tracking and static scene reconstruction. To address this, the paper proposes SCOUT-SLAM, a structurally-coupled dual-uncertainty framework in which both uncertainties are estimated fro...
| Authors | Kumaran Karthik, Pramat Shastri Jois, Suresh Sundaram |
|---|---|
| Primary category | cs.CV |
| Published | 13 September 2026 |
| Last updated at source | 13 September 2026 |
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