Spectral GS-SLAM: Observability-Aware, Degeneracy-Robust Tracking for Real-Time 3D Gaussian Splatting SLAM

arXiv:2606.21258 · cs.RO, cs.CV · Submitted 2026-06-19 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-06-19

Updated: 2026-10-10

Comments: This work has been accepted to IROS 2026. Project site: https://edward62740.github.io/spectralgsslam, Code: https://github.com/edward62740/Spectral-GS-SLAM

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• Degeneracy — 1× in this paper · explained in 4 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes

Sources

• G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM
• The Replica Dataset: A Digital Replica of Indoor Spaces

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