blog: 3D Gaussian Splatting meets Factor Graph SLAM

[jashshah999]

Blog post about gtsam-splatfactors — expressing 3DGS rendering as a GTSAM factor for SLAM with loop closure.

Covers:

• GaussianSplatFactor design (photometric residual + Jacobians via se(3) generators)
• Architecture (iSAM2 for poses, Adam for Gaussians, alternating optimization)
• KITTI results (44-85% ATE improvement across 4 sequences)
• TUM-RGBD results (66-79% improvement)

Following up on the discussion in borglab/gtsam#2519. Happy to iterate on the content, structure, or framing based on your feedback.

[dellaert]

Ah, I see you opened a new one here.

[jashshah999]

Yes @dellaert - let me know if you have any feedback! Happy to iterate.

[dellaert]

@jashshah999 Sorry about the late review. I think it reads well. But before I widely share on social media: are you planning to have an Arxiv version accompanying your repo? And/or planning to submit somewhere?

[jashshah999]

Thanks @dellaert ! No arxiv paper or submission planned. This is a standalone open-source project. Happy for you to share it as-is!