FlashSLAM replaces gradient-descent camera tracking in 3DGS SLAM with LightGlue feature matching and SVD point-cloud registration, improving speed and sparse-frame accuracy.
Durrant-Whyte and T
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FlashSLAM: Accelerated RGB-D SLAM for Real-Time 3D Scene Reconstruction with Gaussian Splatting
FlashSLAM replaces gradient-descent camera tracking in 3DGS SLAM with LightGlue feature matching and SVD point-cloud registration, improving speed and sparse-frame accuracy.