ODGS-SLAM: Omnidirectional Gaussian Splatting SLAM

Image filtering /w Lat weight /w Depth mask Gaussian map Spherical rendering Tracking input Camera pose optimization /w Const mv. Camera pose Spherical map optimization Mapping input KF insertion Omnidir. KF removal check remove redundant x z y θ φ Figure 1. (Left:) Overview of the ODGS-SLAM system. (Right:) Following [22], any ray can be represented in the spherical coordinate system S 2 with the angles ϕ ∈ [-π, π] and θ ∈ -π 2 , π 2 .