During online Gaussian splatting SLAM, training extra on non-keyframes that view the most uncertain Gaussians improves model completeness over keyframe-only training.
Orb-slam: a versatile and accurate monocular slam system.IEEE transactions on robotics, 31(5):1147–1163,
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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.