PG-SLAM Accepted by T-RO

Our work PG-SLAM has been accepted by IEEE Transactions on Robotics (T-RO)! PG-SLAM is a photo-realistic and geometry-aware RGB-D SLAM method for dynamic environments built upon Gaussian Splatting. It jointly maps the dynamic foreground (including non-rigid humans and rigid items), reconstructs the static background, and localizes the camera by leveraging both geometric and appearance constraints. Experiments on various real-world datasets demonstrate state-of-the-art performance in both camera localization and scene representation.