# DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization

arXiv: https://arxiv.org/abs/2411.08373 · HTML: https://mlsanity.com/paper/2411.08373/

## Key facts

- Cited by 29 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Nov 2024.

## Built on by (most cited first, 29 of 29)

- [WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments](https://mlsanity.com/paper/2504.03886/) (2025)
- [POMATO: Marrying Pointmap Matching with Temporal Motion for Dynamic 3D Reconstruction](https://mlsanity.com/paper/2504.05692/) (2025)
- [PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments](https://mlsanity.com/paper/2411.15800/) (2024)
- [SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embedding](https://mlsanity.com/paper/2501.05242/) (2025)
- [DynaGSLAM: Real-Time Gaussian-Splatting SLAM for Online Rendering, Tracking, Motion Predictions of Moving Objects in Dynamic Scenes](https://mlsanity.com/paper/2503.11979/) (2025)
- [4D Gaussian Splatting SLAM](https://mlsanity.com/paper/2503.16710/) (2025)
- [DROID-SLAM in the Wild](https://mlsanity.com/paper/2603.19076/) (2026)
- [UP-SLAM: Adaptively Structured Gaussian SLAM with Uncertainty Prediction in Dynamic Environments](https://mlsanity.com/paper/2505.22335/) (2025)
- [ContraGS: Codebook-Condensed and Trainable Gaussian Splatting for Fast, Memory-Efficient Reconstruction](https://mlsanity.com/paper/2509.03775/) (2025)
- [Gaussian Mapping for Evolving Scenes](https://mlsanity.com/paper/2506.06909/) (2025)
- [Dream-SLAM: Dreaming the Unseen for Active SLAM in Dynamic Environments](https://mlsanity.com/paper/2602.21967/) (2026)
- [Flow4DGS-SLAM: Optical Flow-Guided 4D Gaussian Splatting SLAM](https://mlsanity.com/paper/2604.22339/) (2026)
- [Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM](https://mlsanity.com/paper/2504.04844/) (2025)
- [Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directions](https://mlsanity.com/paper/2602.04251/) (2026)
- [NRGS-SLAM: Monocular Non-Rigid SLAM for Endoscopy via Deformation-Aware 3D Gaussian Splatting](https://mlsanity.com/paper/2602.17182/) (2026)
- [CAD-SLAM: Consistency-Aware Dynamic SLAM with Dynamic-Static Decoupled Mapping](https://mlsanity.com/paper/2505.19420/) (2025)
- [ProDyG: Progressive Dynamic Scene Reconstruction via Gaussian Splatting from Monocular Videos](https://mlsanity.com/paper/2509.17864/) (2025)
- [RU4D-SLAM: Reweighting Uncertainty in Gaussian Splatting SLAM for 4D Scene Reconstruction](https://mlsanity.com/paper/2602.20807/) (2026)
- [WildPose: A Unified Framework for Robust Pose Estimation in the Wild](https://mlsanity.com/paper/2605.12774/) (2026)
- [GeneA-SLAM2: Dynamic SLAM with AutoEncoder-Preprocessed Genetic Keypoints Resampling and Depth Variance-Guided Dynamic Region Removal](https://mlsanity.com/paper/2506.02736/) (2025)
- [Dropping the D: RGB-D SLAM Without the Depth Sensor](https://mlsanity.com/paper/2510.06216/) (2025)
- [RoGER-SLAM: A Robust Gaussian Splatting SLAM System for Noisy and Low-light Environment Resilience](https://mlsanity.com/paper/2510.22600/) (2025)
- [LVD-GS: Gaussian Splatting SLAM for Dynamic Scenes via Hierarchical Explicit-Implicit Representation Collaboration Rendering](https://mlsanity.com/paper/2510.22669/) (2025)
- [DL-SLAM: Enabling High-Fidelity Gaussian Splatting SLAM in Dynamic Environments based on Dual-Level Probability](https://mlsanity.com/paper/2607.01860/) (2026)
- [DynActiveGS: Active Gaussian Splatting for Dynamic Scene Reconstruction](https://mlsanity.com/paper/2608.01178/) (2026)
- [EndoMD-SLAM: Endoscopic Gaussian Splatting SLAM under Optical Degradation with Memory and Static-Transient Decomposition](https://mlsanity.com/paper/2608.08949/) (2026)
- [RoSe-SLAM: Robust Semantic-Aware Gaussian Splatting SLAM from Dynamic Monocular Videos](https://mlsanity.com/paper/2608.29003/) (2026)
- [SCOUT-SLAM: Structurally-Coupled Dual Uncertainty-Aware 3DGS SLAM in the Wild](https://mlsanity.com/paper/2609.14634/) (2026)
- [A Review Of Robotic World Models For Dynamic Environments Based On Factor And Scene Graphs](https://mlsanity.com/paper/2610.08800/) (2026)

## Abstract (arXiv)

Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven effective in creating high-quality renderings using explicit 3D Gaussian models, significantly improving environmental reconstruction fidelity. However, these approaches depend on a static environment assumption and face challenges in dynamic environments due to inconsistent observations of geometry and photometry. To address this problem, we propose DG-SLAM, the first robust dynamic visual SLAM system grounded in 3D Gaussians, which provides precise camera pose estimation alongside high-fidelity reconstructions. Specifically, we propose effective strategies, including motion mask generation, adaptive Gaussian point management, and a hybrid camera tracking algorithm to improve the accuracy and robustness of pose estimation. Extensive experiments demonstrate that DG-SLAM delivers state-of-the-art performance in camera pose estimation, map reconstruction, and novel-view synthesis in dynamic scenes, outperforming existing methods meanwhile preserving real-time rendering ability.