A Gaussian Splatting SLAM system that gates map updates with a reliability gate and separates camera-attached artifacts into a transient field, improving endoscopic tracking and reconstruction under optical degradation.
Ad- vances in real-time 3d reconstruction for medical endoscopy,
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EndoMD-SLAM: Endoscopic Gaussian Splatting SLAM under Optical Degradation with Memory and Static-Transient Decomposition
A Gaussian Splatting SLAM system that gates map updates with a reliability gate and separates camera-attached artifacts into a transient field, improving endoscopic tracking and reconstruction under optical degradation.