MyGO-Splat: Multi-Objective Closed-Loop Geometric Feedback for RGB-Only Gaussian SLAM

• URL: http://arxiv.org/abs/2606.29738v1
• Date: Mon, 29 Jun 2026 03:22:06 GMT
• Title: MyGO-Splat: Multi-Objective Closed-Loop Geometric Feedback for RGB-Only Gaussian SLAM
• Abstract summary: MyGO-Splat is a closed-loop Gaussian SLAM framework that analyticallyizes primitives into pixel-wise depth and surface normals.<n>We show that this closed-loop design improves scale stability and appearance-geometry consistency, achieving performance comparable to RGB-D methods while using only monocular input.
• Score: 22.81691196847663
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Real-time monocular Simultaneous Localization and Mapping (SLAM) fundamentally suffers from scale ambiguity and a lack of geometric self-correction. While 3D Gaussian Splatting (3DGS) enables high-fidelity rendering, existing RGB-only systems remain open-loop because depth priors are injected into mapping but refined geometry cannot effectively regulate tracking drift. We present MyGO-Splat, a closed-loop Gaussian SLAM framework that analytically rasterizes Gaussian primitives into pixel-wise depth and surface normals, allowing the map to actively supervise camera pose optimization. To bridge monocular priors and scale consistency, our framework introduces scale-aware adaptive alignment that projects foundation-model depth estimates into the globally optimized Gaussian space, forming a self-correcting cycle for scale feedback. Extensive evaluations show that this closed-loop design improves scale stability and appearance-geometry consistency, achieving performance comparable to RGB-D methods while using only monocular input.

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