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ESP-SLAM: Efficient Submap Partitioning for Large-Scale 3D Gaussian Splatting-Based SLAM

Recent SLAM systems have adopted 3D Gaussian Splatting (3DGS) to generate photorealistic maps. Despite its high fidelity, scaling 3DGS-SLAM to large scenes remains challenging. In most implementations, 3DGS maintains a single globally shared set of Gaussians, which can cause catastrophic forgetting