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ArborSplat: Online Semantic Gaussian Splatting SLAM for Orchards
Orchard robots need maps that preserve small but semantically important structures such as trunks, trellises, and fruit. 3D Gaussian Splatting (3DGS) SLAM achieves high photometric fidelity. However, its optimization remains appearance-driven, and transferring image semantics to 3D points is unrelia
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