arxivcs.CVcs.RO2026-07-05
Real-Time LiDAR Gaussian Splatting SLAM
Seungjun Tak, Yewon Jeon, Jaeik Hwang, SukMin Hwang, Seongbo Ha, Hyeonwoo Yu
We present a real-time LiDAR-based framework for Gaussian Splatting SLAM that tightly couples fast G-ICP registration with spherical rasterization-based dense mapping for large-scale sequences. Leveraging LiDAR geometry rather than appearance, we reuse tracking-estimated local co…