arxivcs.RO2026-06-29
MyGO-Splat: Multi-Objective Closed-Loop Geometric Feedback for RGB-Only Gaussian SLAM
Fan Zhu, Ziyu Chen, Zhenjun Zhao, Zhisong Xu, Hui Zhu, Mingrui Li, et al.
Real-time monocular Simultaneous Localization and Mapping (SLAM) fundamentally suffers from scale ambiguity and a lack of geometric self-correction. While 3D Gaussian Splatting (3DGS) enables high-fidelity rendering, existing RGB-only systems remain open-loop because depth priors…