Abstract
RGB-D SLAM requires accurate online tracking, high-quality rendering, and geometrically consistent reconstruction. Existing Gaussian SLAM methods mainly optimize Gaussian primitives with photometric, depth, or local frame-to-model constraints, which are often insufficient in indoor scenes with weak textures, large planar structures, noisy depth, and long trajectories. The resulting maps may suffer from pose drift, surface thickness artifacts, noisy normals, and blurred structural boundaries. We propose DrawSplat, an Atlanta World-guided implicit Gaussian SLAM framework for indoor reconstruction. DrawSplat follows a drawing-like process: explicit point-line geometry first sketches the structural layout, and implicit neural Gaussians then fill in high-fidelity appearance and continuous geometric details. It estimates camera poses, sparse geometry, and gravity direction through point-line joint tracking, infers structural planes from tracked lines using the shared-gravity component of the Atlanta World prior, and converts them into differentiable regularization terms on Gaussian centers and normals. To improve compactness and efficiency, DrawSplat further combines an anchor-based implicit neural Gaussian representation with adaptive structural sampling, which allocates Gaussian capacity to structurally informative regions. Experiments on multiple datasets show that DrawSplat achieves robust tracking, high-fidelity rendering, and strong geometric reconstruction among Gaussian-based SLAM systems, while maintaining a practical balance among quality, efficiency, and model size.
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URL
https://arxiv.org/abs/2610.41602
