Stipple: Real-Time Incremental 3D Gaussian Splatting with Visual-Inertial Tracking
zhenjun_zhao · x · 2026-08-04
Stipple introduces a real-time, incremental 3D Gaussian Splatting (3DGS) reconstruction method designed for robotics and XR applications, overcoming the heavy preprocessing and training latency of traditional 3DGS.
Key highlights include:
- VIO/SLAM Integration: Leverages an efficient visual-inertial tracking system based on Basalt, combined with Brush, a Rust-based GPU-vendor-agnostic 3DGS implementation.
- Incremental Training Strategy: Replaces heavy preprocessing by using information directly generated by the visual-inertial tracking system for efficient incremental training.
- Parallel Real-Time Execution: Proposes practical improvements to optimize the training pipeline, enabling it to run in real-time parallel to the tracking thread.
This work demonstrates the value of combining SLAM and 3DGS, providing a viable solution for immediate environmental interaction in robotics.
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