During online Gaussian splatting SLAM, training extra on non-keyframes that view the most uncertain Gaussians improves model completeness over keyframe-only training.
Neurar: Neural uncertainty for autonomous 3d re- construction with implicit neural representations.IEEE Robotics and Automation Letters, 8(2):1125–1132,
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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.