# TopoGS-SLAM: Reconstructing Gaussian SLAM densification strategy from a static sampling perspective

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qs7vssyxfsx5yc5fukktv0y8f
- Original: https://arxiv.org/abs/2601.00705

## Summary

The authors propose TopoGS-SLAM, which decouples refinement from capacity using coverage-triggered Gaussian initialization and bounded-topology optimization, turning mapping into a bounded-dimensional problem. On standard indoor benchmarks, its localization and reconstruction accuracy is not inferior to densification-based pipelines, while memory scalability and throughput improve significantly. The authors therefore conclude that in bounded-area static indoor scenes with sufficient multi-view coverage, Gaussian SLAM does not require iterative topology mutation.