VCS-SLAM introduces geometric validation of semantic observations via visibility consistency, boundary evidence, and ray uncertainty to improve fusion in 3D Gaussian SLAM.
Adaptive keyframe selection for scalable 3d scene reconstruction in dynamic environments,
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VCS-SLAM: Geometry-Validated Semantic Evidence Fusion for 3D Gaussian SLAM
VCS-SLAM introduces geometric validation of semantic observations via visibility consistency, boundary evidence, and ray uncertainty to improve fusion in 3D Gaussian SLAM.