arxivcs.CV2026-06-29
Robust and Efficient Monocular 3D Gaussian SLAM for Kilometer-Scale Outdoor Scenes
Sicheng Yu, Dongxu Shen, Beizhen Zhao, Guanzhi Ding, Hao Wang
Scaling monocular 3D Gaussian Splatting (3DGS) SLAM to kilometer-level outdoor environments poses two tightly coupled challenges: fragile long-term pose tracking and excessive memory overhead during large-scale mapping. In this paper, we propose KiloGS-SLAM, a highly efficient an…