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Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking
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,
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