Abstract
ICP-based 3D Gaussian Splatting (3DGS) SLAM tracks in real time by registering incoming frames against map Gaussians, using each primitive's covariance for both rendering and registration. These two uses place conflicting demands on one covariance. The mapper shapes it to minimize photometric error, often flattening it against surfaces, while robust registration typically benefits from measurement uncertainty. We propose a dual-covariance parameterization. Each Gaussian keeps a single mean but holds two covariances: a rendering covariance optimized by the mapper, and a tracking covariance derived from an RGB-D sensor noise model. We further use the tracking covariances as Gaussian anchors for image corners, providing constraints in directions where depth geometry is weak. We evaluate on TUM RGB-D, ScanNet, Replica, and two outdoor sequences recorded with a RealSense D435i on wheeled and handheld platforms. We achieve robust tracking performance across multiple scenes and reduced odometry drift, while tracking at $\sim$ 60 FPS.
Keywords
Subject
Publication details
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- Open access
- Green open access
Cite this article
APA 7
Tan, E. B. W., & Lam, S. K. (2026). Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking. https://omanscience.com/en/articles/dual-covariance-gaussian-splatting-slam-decoupling-rendering-and-registration-for-robust-real-time-tracking
MLA 9
Tan, Edward Beng Wai, and Siew-Kei Lam. "Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking." https://omanscience.com/en/articles/dual-covariance-gaussian-splatting-slam-decoupling-rendering-and-registration-for-robust-real-time-tracking.
Chicago (author–date)
Tan, Edward Beng Wai, and Siew-Kei Lam. 2026. "Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking." https://omanscience.com/en/articles/dual-covariance-gaussian-splatting-slam-decoupling-rendering-and-registration-for-robust-real-time-tracking.
Harvard
Tan, E. B. W. and Lam, S. K. (2026) 'Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking', Available at: https://omanscience.com/en/articles/dual-covariance-gaussian-splatting-slam-decoupling-rendering-and-registration-for-robust-real-time-tracking.
Vancouver
Tan EBW, Lam SK. Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking. https://omanscience.com/en/articles/dual-covariance-gaussian-splatting-slam-decoupling-rendering-and-registration-for-robust-real-time-tracking
IEEE
E. B. W. Tan, and S. K. Lam, "Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking," https://omanscience.com/en/articles/dual-covariance-gaussian-splatting-slam-decoupling-rendering-and-registration-for-robust-real-time-tracking.