GLAM-SLAM: Real-time Gaussian Large-scale Mapping via Flow Densification and Spatial Decomposition

TL;DR - GLAM-SLAM is a real-time monocular SLAM system that scales Gaussian-splatting maps to long outdoor sequences. It improves reconstruction quality while controlling tracking overhead and GPU memory demands.

• Uses a lightweight feature-based SLAM frontend and a sparse anchor-grid representation for scalable mapping.
• Densifies 3D Gaussian initialization through geometry-based optical flow and epipolar constraints.
• Spatially partitions mapping and initializes localized MLPs to preserve scene coherence.
• Reports 15% better reconstruction quality than the second-best system while maintaining real-time performance.