Soohwan Kim

GSSeq: Rendered-Reference Sequential Loop Verification for UAV 3D Gaussian Splatting SLAM

UAVs increasingly rely on accurate SLAM for aerial mapping and inspection in GPS-denied environments. 3D Gaussian Splatting (3DGS) has opened a new direction for UAV mapping by allowing SLAM systems to build dense, photorealistic, and renderable maps. Yet in 3DGS SLAM the map is optimized from the pose graph, so a fals...