Triangle Splatting SLAM

We present a dense RGB-D SLAM system using differen-tiable triangles as the 3D map representation. While 3D Gaussian Splat-ting has emerged as the leading method for novel-view synthesis, trianglesremain the standard primitive for traditional rendering hardware, gameengines, and downstream tasks requiring explicit geometry such as simu-lation, collision, and editing. Recent offline methods have demonstratedthat an unstructured ‘triangle soup’ can be optimised into a photorealis-tic mesh via Delaunay triangulation across a set of posed images. Build-ing upon this insight, we present the first dense SLAM system to employTriangle Splatting to perform both tracking and mapping through on-line differentiable rendering of a triangle soup. The map can be convertedinto a connected mesh on-the-fly via restricted Delaunay triangulation,enabling new online capabilities such as mesh deformation and collisionchecking. On Replica and TUM-RGBD, our system outperforms base-lines on 3D geometry, matches the camera-tracking accuracy, and enablesonline mesh-based scene editing.