# RoGER-SLAM: A Robust Gaussian Splatting SLAM System for Noisy and Low-light Environment Resilience

arXiv: https://arxiv.org/abs/2510.22600 · HTML: https://mlsanity.com/paper/2510.22600/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 20 of its 43 references that are in the map.
- First posted on arXiv 26 Oct 2025.

## Builds on (most cited first, 20 of 20)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Beyond a Gaussian Denoiser: Residual Learning of Deep CNN for Image Denoising](https://mlsanity.com/paper/1608.03981/) (2016)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [Zero-Reference Deep Curve Estimation for Low-Light Image Enhancement](https://mlsanity.com/paper/2001.06826/) (2020)
- [FFDNet: Toward a Fast and Flexible Solution for CNN based Image Denoising](https://mlsanity.com/paper/1710.04026/) (2017)
- [EnlightenGAN: Deep Light Enhancement without Paired Supervision](https://mlsanity.com/paper/1906.06972/) (2019)
- [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)
- [Benchmarking Denoising Algorithms with Real Photographs](https://mlsanity.com/paper/1707.01313/) (2017)
- [Atlas: End-to-End 3D Scene Reconstruction from Posed Images](https://mlsanity.com/paper/2003.10432/) (2020)
- [NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields](https://mlsanity.com/paper/2210.13641/) (2022)
- [Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM](https://mlsanity.com/paper/2304.14377/) (2023)
- [Point-SLAM: Dense Neural Point Cloud-based SLAM](https://mlsanity.com/paper/2304.04278/) (2023)
- [Getting to Know Low-light Images with The Exclusively Dark Dataset](https://mlsanity.com/paper/1805.11227/) (2018)
- [Implicit Neural Representation for Cooperative Low-light Image Enhancement](https://mlsanity.com/paper/2303.11722/) (2023)
- [Burstormer: Burst Image Restoration and Enhancement Transformer](https://mlsanity.com/paper/2304.01194/) (2023)
- [Transfer CLIP for Generalizable Image Denoising](https://mlsanity.com/paper/2403.15132/) (2024)
- [DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization](https://mlsanity.com/paper/2411.08373/) (2024)
- [LVI-GS: Tightly-coupled LiDAR-Visual-Inertial SLAM using 3D Gaussian Splatting](https://mlsanity.com/paper/2411.02703/) (2024)

## Abstract (arXiv)

The reliability of Simultaneous Localization and Mapping (SLAM) is severely constrained in environments where visual inputs suffer from noise and low illumination. Although recent 3D Gaussian Splatting (3DGS) based SLAM frameworks achieve high-fidelity mapping under clean conditions, they remain vulnerable to compounded degradations that degrade mapping and tracking performance. A key observation underlying our work is that the original 3DGS rendering pipeline inherently behaves as an implicit low-pass filter, attenuating high-frequency noise but also risking over-smoothing. Building on this insight, we propose RoGER-SLAM, a robust 3DGS SLAM system tailored for noise and low-light resilience. The framework integrates three innovations: a Structure-Preserving Robust Fusion (SP-RoFusion) mechanism that couples rendered appearance, depth, and edge cues; an adaptive tracking objective with residual balancing regularization; and a Contrastive Language-Image Pretraining (CLIP)-based enhancement module, selectively activated under compounded degradations to restore semantic and structural fidelity. Comprehensive experiments on Replica, TUM, and real-world sequences show that RoGER-SLAM consistently improves trajectory accuracy and reconstruction quality compared with other 3DGS-SLAM systems, especially under adverse imaging conditions.