Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are built on a tremendous number of redundant 3D Gaussian ellipsoids, leading to high memory and storage costs, and slow training speed. To address the limitation, we propose a compact 3D Gaussian Splatting SLAM system that reduces the number and the parameter size of Gaussian ellipsoids. A sliding window-based masking strategy is first proposed to reduce the redundant ellipsoids. Then we observe that the covariance matrix (geometry) of most 3D Gaussian ellipsoids are extremely similar, which motivates a novel geometry codebook to compress 3D Gaussian geometric attributes, i.e., the parameters. Robust and accurate pose estimation is achieved by a global bundle adjustment method with reprojection loss. Extensive experiments demonstrate that our method achieves faster training and rendering speed while maintaining the state-of-the-art (SOTA) quality of the scene representation.
@article{arxiv.2403.11247,
title = {Compact 3D Gaussian Splatting For Dense Visual SLAM},
author = {Tianchen Deng and Chang Nie and Shuhong Liu and Wenhua Wu and Jianfei Yang and Shenghai Yuan and Jiuming Liu and Danwei Wang and Hesheng Wang},
journal= {arXiv preprint arXiv:2403.11247},
year = {2026}
}