# SG^2SLAM: Spatial Geometry-Constrained 3D Gaussian Splatting SLAM for Monocular Outdoor Navigation

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/u8y9jbq0tg99lc3bfk42ttqu3
- Original: https://arxiv.org/abs/2610.36312

## Summary

The authors propose SG^2SLAM, a 3D Gaussian Splatting SLAM method for monocular outdoor navigation that replaces per-frame cross-dimensional correspondence with a chunk-level metric prior, so that tracking and mapping share the same geometric source. The method also introduces a ray-conditioned 3DGS kernel that extends each primitive with a viewing-direction subspace, and jointly optimizes spatial geometry and poses. On the KITTI and Waymo Open datasets, SG^2SLAM outperforms per-frame association baselines in the monocular outdoor navigation task. Code will be made publicly available upon acceptance.