Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM

IROS 2025

Zhicong Sun , Jinxing Hu* , Jacqueline Lo*

(* Corresponding Authors)

Paper | Project Page

Overview of our D4DGS-SLAM.

Note

• The code will be publicly released soon. Please stay tuned for this exciting work. Thank you for your attention.

TODO list

• release the arxiv link
• release the website
• release the full README file
• release the code of the 4d-gaussian-rasterization for 4DGS-based SLAM
• release the full code of our D4DGS-SLAM
• release the code of the evaluation

Acknowledgement

This work incorporates many open-source codes. We extend our gratitude to the authors of the software.

• 3D Gaussian Splatting
• Differential Gaussian Rasterization
• 3D Gaussian Splatting
• Differential Gaussian Rasterization
• 4D Gaussian Splatting
• Gaussian Splatting SLAM
• LEAP-VO
• SplaTAM

License

D4DGS-SLAM is released under a LICENSE.md.

Citation

If you find our paper and code useful, please cite us:

@inproceedings{sun2025d4dgsslam,
        title={Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM},
        author={Zhicong Sun, Jacqueline Lo, Jinxing Hu},
        journal={arXiv preprint arXiv:2504.04844},
        year={2025}
}