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KFS$^4$LAM: Adaptive KeyFrame Selection with Structure-Aware Mapping for Endoscopic Gaussian Splatting SLAM
Xinwei Ju, Author 2, Author 3, Author 4, Author 5
SLAMkeyframe selection3D reconstructionmedical imaging
2610.22505
Builder Relevance
1h ago80%
Abstract
KFS$^4$LAM enhances SLAM performance in endoscopic procedures through adaptive keyframe selection and structure-aware mapping.
Reality Card
Core Claim
KFS$^4$LAM reduces rotational relative pose error by 20.3% and depth RMSE by 38.4% compared to existing Gaussian-SLAM baselines.
Method / Result
Achieves pronounced gains on the C3VD-v2 dataset, improving PSNR by 0.78 dB.
Limitations
The framework's performance may vary based on specific SLAM architectures used in cross-backbone experiments.
Paper to code
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