{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/dg-slam-robust-dynamic-gaussian-splatting","title":"DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization","arxiv_id":"2411.08373","date":"2024-11-13","proceeding":null,"authors":["Yueming Xu","Haochen Jiang","Zhongyang Xiao","Jianfeng Feng","Li Zhang"],"abstract":"Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven effective in creating high-quality renderings using explicit 3D Gaussian models, significantly improving environmental reconstruction fidelity. However, these approaches depend on a static environment assumption and face challenges in dynamic environments due to inconsistent observations of geometry and photometry. To address this problem, we propose DG-SLAM, the first robust dynamic visual SLAM system grounded in 3D Gaussians, which provides precise camera pose estimation alongside high-fidelity reconstructions. Specifically, we propose effective strategies, including motion mask generation, adaptive Gaussian point management, and a hybrid camera tracking algorithm to improve the accuracy and robustness of pose estimation. Extensive experiments demonstrate that DG-SLAM delivers state-of-the-art performance in camera pose estimation, map reconstruction, and novel-view synthesis in dynamic scenes, outperforming existing methods meanwhile preserving real-time rendering ability.","url_abs":"https://arxiv.org/abs/2411.08373v1","url_pdf":"https://arxiv.org/pdf/2411.08373v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"dg-slam-robust-dynamic-gaussian-splatting","repo_url":"https://github.com/fudan-zvg/rodyn-slam","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2411.08373","atlas_url":"https://app.syntology.ai/?focus=2411.08373","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}