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VGGT-GS SLAM: Uncalibrated Monocular Gaussian Splatting SLAM with Feed-Forward Priors

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

We present VGGT-GS SLAM, a monocular 3D Gaussian Splatting SLAM system designed for uncalibrated videos. Starting from feed-forward VGGT pose and depth priors, our system performs submap differentiable bundle adjustment that jointly refines camera poses and a 3D Gaussian map, while optimizing submap-shared intrinsics and radial--tangential distortion through analytic calibration Jacobians. To improve global consistency, we introduce Gaussian-native alignment (GNA) for camera-anchored scale refinement between sequential submaps and verification of loop-closure candidates. Extensive experiments

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