A real-time RGB-D SLAM system built on 2D Gaussian surfels with a depth-distortion adaptive rendering rule and analytic surfel pose Jacobians reports accurate geometry and robust tracking on Replica, TUM-RGBD, and ScanNet++.
T.; Mildenhall, B.; Verbin, D.; Srinivasan, P
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$S^3$LAM: Surfel Splatting SLAM for Geometrically Accurate Tracking and Mapping
A real-time RGB-D SLAM system built on 2D Gaussian surfels with a depth-distortion adaptive rendering rule and analytic surfel pose Jacobians reports accurate geometry and robust tracking on Replica, TUM-RGBD, and ScanNet++.