Dynamic map management for Gaussian Splatting SLAM

Abstract

Map representation and management for Simultaneous Localization and Mapping (SLAM) systems is at the core of such algorithms. Being able to efficiently construct new KeyFrames (KF), remove redundant ones, constructing covisibility graphs has direct impact on the performance and accuracy of SLAM. In this work we outline the algorithm for maintaining dynamic map and its management for SLAM algorithm based on Gaussian Splatting as the environment representation. Gaussian Splatting allows for high-fidelity photorealistic environment reconstruction using differentiable rasterization and is able to perform in real-time making it a great candidate for map representation in SLAM. Its end-to-end nature and gradient-based optimization significantly simplifies map optimization, camera pose estimation and KeyFrame management.