{"ID":23474976,"CreatedAt":"2026-09-18T01:09:05.407443952Z","UpdatedAt":"2026-09-20T18:11:56.143995915Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2609.19628","arxiv_id":"2609.19628","title":"VGGT-GS SLAM: Uncalibrated Monocular Gaussian Splatting SLAM with Feed-Forward Priors","abstract":"We present VGGT-GS SLAM, a monocular 3D Gaussian Splatting SLAM system designed for uncalibrated videos. Starting from feed-forward VGGT pose and depth priors, our system performs submap differentiable bundle adjustment that jointly refines camera poses and a 3D Gaussian map, while optimizing submap-shared intrinsics and radial--tangential distortion through analytic calibration Jacobians. To improve global consistency, we introduce Gaussian-native alignment (GNA) for camera-anchored scale refinement between sequential submaps and verification of loop-closure candidates. Extensive experiments on standard indoor benchmarks show consistent improvements in localization accuracy and strong rendering quality under uncalibrated settings, establishing a strong baseline for uncalibrated Gaussian SLAM.","short_abstract":"We present VGGT-GS SLAM, a monocular 3D Gaussian Splatting SLAM system designed for uncalibrated videos. Starting from feed-forward VGGT pose and depth priors, our system performs submap differentiable bundle adjustment that jointly refines camera poses and a 3D Gaussian map, while optimizing submap-shared intrinsics a...","url_abs":"https://arxiv.org/abs/2609.19628","url_pdf":"https://arxiv.org/pdf/2609.19628v1","authors":"[\"Yuhang Han\",\"Hao Wang\",\"Jiaxi Cao\",\"Xingyu Liu\"]","published":"2026-09-17T03:18:23Z","proceeding":"cs.CV","tasks":"[\"cs.CV\"]","methods":"[]","has_code":false}