MipSLAM: Alias-Free Gaussian Splatting SLAM

• URL: http://arxiv.org/abs/2603.06989v1
• Date: Sat, 07 Mar 2026 02:20:12 GMT
• Title: MipSLAM: Alias-Free Gaussian Splatting SLAM
• Abstract summary: MipSLAM is a frequency-aware 3D Gaussian Splatting (3DGS) SLAM framework.<n>EAA algorithm approximates Gaussian contributions via geometry-aware numerical integration.<n>SA-PGO module reformulates trajectory estimation in the frequency domain.
• Score: 40.971343082631485
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: This paper introduces MipSLAM, a frequency-aware 3D Gaussian Splatting (3DGS) SLAM framework capable of high-fidelity anti-aliased novel view synthesis and robust pose estimation under varying camera configurations. Existing 3DGS-based SLAM systems often suffer from aliasing artifacts and trajectory drift due to inadequate filtering and purely spatial optimization. To overcome these limitations, we propose an Elliptical Adaptive Anti-aliasing (EAA) algorithm that approximates Gaussian contributions via geometry-aware numerical integration, avoiding costly analytic computation. Furthermore, we present a Spectral-Aware Pose Graph Optimization (SA-PGO) module that reformulates trajectory estimation in the frequency domain, effectively suppressing high-frequency noise and drift through graph Laplacian analysis. A novel local frequency-domain perceptual loss is also introduced to enhance fine-grained geometric detail recovery. Extensive evaluations on Replica and TUM datasets demonstrate that MipSLAM achieves state-of-the-art rendering quality and localization accuracy across multiple resolutions while maintaining real-time capability. Code is available at https://github.com/yzli1998/MipSLAM.

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