During online Gaussian splatting SLAM, training extra on non-keyframes that view the most uncertain Gaussians improves model completeness over keyframe-only training.
Tanks and temples: Bench- marking large-scale scene reconstruction.ACM Transac- tions on Graphics (ToG), 36(4):1–13,
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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.