During online Gaussian splatting SLAM, training extra on non-keyframes that view the most uncertain Gaussians improves model completeness over keyframe-only training.
Mgso: Monocular real-time photometric slam with efficient 3d gaussian splatting.arXiv preprint arXiv:2409.13055,
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Online 3D Gaussian Splatting Modeling with Novel View Selection
During online Gaussian splatting SLAM, training extra on non-keyframes that view the most uncertain Gaussians improves model completeness over keyframe-only training.