arxivcs.RO2026-07-08
GeoGS-SLAM: Geometry-Only Gaussian Splatting for Dense Monocular SLAM
Lipu Zhou, Yaoyun Kang, Junxiang Pang, Shengkai Sun, Tingting Bao, Kehan Wang
Dense visual SLAM is a fundamental problem in robotics. Recent advances in 3DGS have demonstrated its potential for dense SLAM. Existing 3DGS frameworks focus on both appearance and geometry modeling. However, scene geometry is typically more critical for SLAM than novel view syn…