KFS$^4$LAM: Adaptive KeyFrame Selection with Structure-Aware Mapping for Endoscopic Gaussian Splatting SLAM
Gaussian-splatting Simultaneous Localization and Mapping (SLAM) augments conventional SLAM with a dense, renderable 3D scene representation, enabling high-quality reconstruction and novel-view synthesis. However, its localization, reconstruction, and rendering performance depends strongly on which observations are retained for mapping. Existing systems commonly rely on fixed temporal intervals or simple pose- and overlap-based criteria for keyframe selection. In colonoscopy, non-uniform camera motion, repetitive anatomy, specularities, and visual artifacts can make these criteria unreliable, leading to either redundant keyframes or missed informative viewpoints. We present KFS$^4$LAM (Key...
| Authors | Xinwei Ju, Zhehua Mao, Tianyi Song et al. |
|---|---|
| Primary category | cs.CV |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
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