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cs.RO2026
Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking
Edward Beng Wai Tan, Siew-Kei Lam
ICP-based 3D Gaussian Splatting (3DGS) SLAM tracks in real time by registering incoming frames against map Gaussians, using each primitive's covariance for both rendering and regis…
cs.RO2026
Learning to Navigate with Minimal Parameters: Decomposing Visual Navigation Through Closed-Form Geometric Interfaces
Edward Beng Wai Tan, Siew-Kei Lam
Visual navigation policies have grown to hundreds of millions of parameters trained on billions of frames, with geometry, mapping, and control learned implicitly. We propose a deco…
cs.RO2026
Spectral GS-SLAM: Observability-Aware, Degeneracy-Robust Tracking for Real-Time 3D Gaussian Splatting SLAM
Edward Beng Wai Tan, Siew-Kei Lam, Dongshuo Zhang
Recent 3DGS-SLAM systems enable real-time operation by leveraging conventional feature matching or ICP-based tracking, thereby avoiding the heavy dense photometric optimization use…