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This work presents, to the best of the knowledge, the first online Gaussian SLAM framework that tracks and maps directly on single-exposure 16-bit linear HDR imagery and transfers seamlessly to SplaTAM, Gaussian SLAM, and DROID-W, eliminating all tracking failures these systems suffer on challenging illumination sequences.
Overlooked no more: RCS data from 4D radar significantly boosts scan matching accuracy by explicitly modeling its physical behavior.
Robust 6-DoF localization is now possible even with severely degraded odometry or without IMU priors, thanks to a novel continuous Gaussian distance field representation.