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…