G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866918103424696320 |
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| author | Pak, Gyuhyeon Cho, Hae Min Kim, Euntai |
| author_facet | Pak, Gyuhyeon Cho, Hae Min Kim, Euntai |
| contents | In this paper, we present a novel geometry-aware RGB-D Gaussian Splatting SLAM system, named G2S-ICP SLAM. The proposed method performs high-fidelity 3D reconstruction and robust camera pose tracking in real-time by representing each scene element using a Gaussian distribution constrained to the local tangent plane. This effectively models the local surface as a 2D Gaussian disk aligned with the underlying geometry, leading to more consistent depth interpretation across multiple viewpoints compared to conventional 3D ellipsoid-based representations with isotropic uncertainty. To integrate this representation into the SLAM pipeline, we embed the surface-aligned Gaussian disks into a Generalized ICP framework by introducing anisotropic covariance prior without altering the underlying registration formulation. Furthermore we propose a geometry-aware loss that supervises photometric, depth, and normal consistency. Our system achieves real-time operation while preserving both visual and geometric fidelity. Extensive experiments on the Replica and TUM-RGBD datasets demonstrate that G2S-ICP SLAM outperforms prior SLAM systems in terms of localization accuracy, reconstruction completeness, while maintaining the rendering quality. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_18344 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM Pak, Gyuhyeon Cho, Hae Min Kim, Euntai Robotics In this paper, we present a novel geometry-aware RGB-D Gaussian Splatting SLAM system, named G2S-ICP SLAM. The proposed method performs high-fidelity 3D reconstruction and robust camera pose tracking in real-time by representing each scene element using a Gaussian distribution constrained to the local tangent plane. This effectively models the local surface as a 2D Gaussian disk aligned with the underlying geometry, leading to more consistent depth interpretation across multiple viewpoints compared to conventional 3D ellipsoid-based representations with isotropic uncertainty. To integrate this representation into the SLAM pipeline, we embed the surface-aligned Gaussian disks into a Generalized ICP framework by introducing anisotropic covariance prior without altering the underlying registration formulation. Furthermore we propose a geometry-aware loss that supervises photometric, depth, and normal consistency. Our system achieves real-time operation while preserving both visual and geometric fidelity. Extensive experiments on the Replica and TUM-RGBD datasets demonstrate that G2S-ICP SLAM outperforms prior SLAM systems in terms of localization accuracy, reconstruction completeness, while maintaining the rendering quality. |
| title | G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM |
| topic | Robotics |
| url | https://arxiv.org/abs/2507.18344 |