StructureGS-SLAM: structure-aware Gaussian Splatting SLAM with planar instances
rsasaki0109 · x · 2026-10-11
StructureGS-SLAM is a structure-aware Gaussian Splatting SLAM framework that models persistent planar structures as Planar Gaussian Instances (PGIs).
Key contributions: a persistent PGI representation; a Structure Closure mechanism that corrects drift without loop revisits; structure-aware Gaussian optimization; and adaptive RGB-Depth consistency for robust performance in low-texture environments.
Related event: StructureGS-SLAM: Structure-Aware Gaussian Splatting SLAM Sets New SOTA(2 posts)→
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