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Spectral GS-SLAM: Observability-Aware, Degeneracy-Robust Tracking for Real-Time 3D Gaussian Splatting SLAM
Recent 3DGS-SLAM systems enable real-time operation by leveraging conventional feature matching or ICP-based tracking, thereby avoiding the heavy dense photometric optimization used in earlier approaches. However, feature matching remains prone to failure in textureless environments, while ICP-based
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