AI RESEARCH
VIGS-SLAM: Visual Inertial Gaussian Splatting SLAM
arXiv CS.CV
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ArXi:2512.02293v2 Announce Type: replace-cross We present VIGS-SLAM, a visual-inertial 3D Gaussian Splatting SLAM system that achieves robust real-time tracking and high-fidelity reconstruction. Although recent 3DGS-based SLAM methods achieve dense and photorealistic mapping, their purely visual design degrades under challenging conditions such as motion blur, low texture, and exposure variations. Our method tightly couples visual and inertial cues within a unified optimization framework, jointly optimizing camera poses, depths, and IMU states.