SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM

Semantic understanding plays a crucial role in Dense Simultaneous Localization and Mapping (SLAM), facilitating comprehensive scene interpretation. Recent advancements that integrate Gaus- sian Splatting into SLAM systems have demonstrated its effectiveness in generating high-quality renderings through the use of explicit 3D Gaussian representations. Building on this progress, we propose SGS-SLAM, the first semantic dense visual SLAM system grounded in 3D Gaussians, which provides precise 3D semantic segmentation alongside high-fidelity reconstructions. Specifically, we propose to employ multi-channel optimization during the mapping process, integrating appearance, geometric, and semantic constraints with key-frame optimization to enhance reconstruction quality. Extensive experiments demonstrate that SGS-SLAM delivers state-of-the-art performance in camera pose estimation, map reconstruction, and semantic segmentation, outperforming existing methods meanwhile preserving real-time rendering ability.