SCOUT-SLAM Uses Dual Uncertainty From a Shared Network for Dynamic-Scene 3DGS SLAM
zhenjun_zhao · x · 2026-09-16
SCOUT-SLAM (arXiv:2609.14634) targets 3DGS-SLAM in real-world dynamic environments:
- Problem: existing methods rely on reconstruction stability to model uncertainty, creating a circular dependency between tracking accuracy and reconstruction quality
- Method: a single shared network estimates both tracking and per-pixel uncertainties; a low-rank adaptation trained on multi-view feature consistency yields tracking uncertainty independent of reconstruction quality; a spatially-adaptive prior stops reconstruction instability from inflating uncertainty on static regions
- Results: state-of-the-art tracking and artifact-free static reconstruction on TUM RGB-D, Bonn Dynamic, and Wild-SLAM MoCap
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