{"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/loopsplat-loop-closure-by-registering-3d","title":"LoopSplat: Loop Closure by Registering 3D Gaussian Splats","arxiv_id":"2408.10154","date":"2024-08-19","proceeding":null,"authors":["Liyuan Zhu","Yue Li","Erik Sandström","Shengyu Huang","Konrad Schindler","Iro Armeni"],"abstract":"Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian Splats (3DGS) has recently shown promise towards more accurate, dense 3D scene maps. However, existing 3DGS-based methods fail to address the global consistency of the scene via loop closure and/or global bundle adjustment. To this end, we propose LoopSplat, which takes RGB-D images as input and performs dense mapping with 3DGS submaps and frame-to-model tracking. LoopSplat triggers loop closure online and computes relative loop edge constraints between submaps directly via 3DGS registration, leading to improvements in efficiency and accuracy over traditional global-to-local point cloud registration. It uses a robust pose graph optimization formulation and rigidly aligns the submaps to achieve global consistency. Evaluation on the synthetic Replica and real-world TUM-RGBD, ScanNet, and ScanNet++ datasets demonstrates competitive or superior tracking, mapping, and rendering compared to existing methods for dense RGB-D SLAM. Code is available at loopsplat.github.io.","url_abs":"https://arxiv.org/abs/2408.10154v2","url_pdf":"https://arxiv.org/pdf/2408.10154v2.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":"abstracts"},"code_links":[{"paper_slug":"loopsplat-loop-closure-by-registering-3d","repo_url":"https://github.com/GradientSpaces/LoopSplat","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"3dgs","task_name":"3DGS"},{"task_slug":"point-cloud-registration","task_name":"Point Cloud Registration"},{"task_slug":"simultaneous-localization-and-mapping","task_name":"Simultaneous Localization and Mapping"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2408.10154","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}