Triangle Splatting Bridges Differentiable Rendering and Explicit Geometry for Real-Time SLAM
Triangle Splatting SLAM introduces the first dense SLAM system that uses differentiable triangles as the 3D map representation, enabling both tracking and mapping through online differentiable rendering. Unlike 3D Gaussian Splatting which excels at novel-view synthesis, this approach maintains explicit triangle geometry compatible with traditional rendering pipelines, game engines, and downstream geometric tasks. The system dynamically converts unstructured triangle soup into connected meshes via restricted Delaunay triangulation, unlocking real-time capabilities like mesh deformation and collision checking while outperforming baselines on 3D geometry reconstruction.