# Gaussian Mapping for Evolving Scenes

arXiv: https://arxiv.org/abs/2506.06909 · HTML: https://mlsanity.com/paper/2506.06909/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 48 references that are in the map.
- First posted on arXiv 7 Jun 2025.

## Builds on (most cited first, 30 of 36)

- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [Real-time Photorealistic Dynamic Scene Representation and Rendering with 4D Gaussian Splatting](https://mlsanity.com/paper/2310.10642/) (2023)
- [Gaussian Splatting SLAM](https://mlsanity.com/paper/2312.06741/) (2023)
- [SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM](https://mlsanity.com/paper/2312.02126/) (2023)
- [GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting](https://mlsanity.com/paper/2311.11700/) (2023)
- [MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors](https://mlsanity.com/paper/2412.12392/) (2024)
- [4D-Rotor Gaussian Splatting: Towards Efficient Novel View Synthesis for Dynamic Scenes](https://mlsanity.com/paper/2402.03307/) (2024)
- [RIO: 3D Object Instance Re-Localization in Changing Indoor Environments](https://mlsanity.com/paper/1908.06109/) (2019)
- [EfficientSAM: Leveraged Masked Image Pretraining for Efficient Segment Anything](https://mlsanity.com/paper/2312.00863/) (2023)
- [Aria Digital Twin: A New Benchmark Dataset for Egocentric 3D Machine Perception](https://mlsanity.com/paper/2306.06362/) (2023)
- [Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting](https://mlsanity.com/paper/2312.10070/) (2023)
- [Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs](https://mlsanity.com/paper/2101.06894/) (2021)
- [Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2311.16728/) (2023)
- [Neural Parametric Gaussians for Monocular Non-Rigid Object Reconstruction](https://mlsanity.com/paper/2312.01196/) (2023)
- [A Compact Dynamic 3D Gaussian Representation for Real-Time Dynamic View Synthesis](https://mlsanity.com/paper/2311.12897/) (2023)
- [FlashSplat: 2D to 3D Gaussian Splatting Segmentation Solved Optimally](https://mlsanity.com/paper/2409.08270/) (2024)
- [WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments](https://mlsanity.com/paper/2504.03886/) (2025)
- [Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency](https://mlsanity.com/paper/2109.10165/) (2021)
- [Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments](https://mlsanity.com/paper/2402.13817/) (2024)
- [DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization](https://mlsanity.com/paper/2411.08373/) (2024)
- [Living Scenes: Multi-object Relocalization and Reconstruction in Changing 3D Environments](https://mlsanity.com/paper/2312.09138/) (2023)
- [3DGS-CD: 3D Gaussian Splatting-based Change Detection for Physical Object Rearrangement](https://mlsanity.com/paper/2411.03706/) (2024)
- [NeuSE: Neural SE(3)-Equivariant Embedding for Long-Term Object-Based Simultaneous Localization and Mapping](https://mlsanity.com/paper/2303.07308/) (2023)
- [LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping](https://mlsanity.com/paper/2107.07712/) (2021)

## Built on by (most cited first, 3 of 3)

- [Changes in Real Time: Online Scene Change Detection with Multi-View Fusion](https://mlsanity.com/paper/2511.12370/) (2025)
- [Dynamic Objects Relocalization in Changing Environments with Flow Matching](https://mlsanity.com/paper/2509.16398/) (2025)
- [FlowMaps: Modeling Long-Term Multimodal Object Dynamics with Flow Matching](https://mlsanity.com/paper/2606.20209/) (2026)

## Abstract (arXiv)

Mapping systems with novel view synthesis (NVS) capabilities, most notably 3D Gaussian Splatting (3DGS), are widely used in computer vision, as well as in various applications, including augmented reality, robotics, and autonomous driving. However, many current approaches are limited to static scenes. While recent works have begun addressing short-term dynamics (motion within the camera's view), long-term dynamics (the scene evolving through changes out of view) remain less explored. To overcome this limitation, we introduce a dynamic scene adaptation mechanism to continuously update 3DGS to reflect the latest changes. Since maintaining consistency remains challenging due to stale observations disrupting the reconstruction process, we further propose a novel keyframe management mechanism that discards outdated observations while preserving as much information as possible. We thoroughly evaluate Gaussian Mapping for Evolving Scenes (GaME) on both synthetic and real-world datasets, achieving a 29.7% improvement in PSNR and a 3 times improvement in L1 depth error over the most competitive baseline.