Related Keyframe Optimization Gaussian–Simultaneous Localization and Mapping: A 3D Gaussian Splatting-Based Simultaneous Localization and Mapping with Related Keyframe Optimization

Abstract

Simultaneous localization and mapping (SLAM) is the basis for intelligent robots to explore the world. As a promising method for 3D reconstruction, 3D Gaussian splatting (3DGS) integrated with SLAM systems has shown significant potential. However, due to environmental uncertainties, errors in the tracking process with 3D Gaussians can negatively impact SLAM systems. This paper introduces a novel dense RGB-D SLAM system based on 3DGS that refines Gaussians through sub-Gaussians in the camera coordinate system. Additionally, we propose an algorithm to select keyframes closely related to the current frame, optimizing the scene map and pose of the current keyframe. This approach effectively enhances both the tracking and mapping performance. Experiments on high-quality synthetic scenes (Replica dataset) and low-quality real-world scenes (TUM-RGBD and ScanNet datasets) demonstrate that our system achieves competitive performance in tracking and mapping.