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.

Released components

We have open-sourced the differentiable 4D Gaussian rasterizer that underpins D4DGS-SLAM. It extends the original 3DGS rasterizer with a 4D Gaussian map representation (per-Gaussian temporal center, temporal scale, double-quaternion 4D rotation, 4D Spherical Harmonics) and a MonoGS-style 6-DoF camera pose gradient.

• diff-4d-gaussian-rasterization

Acknowledgement

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

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

License

D4DGS-SLAM is released under the MIT License (see LICENSE).

Citation

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

@inproceedings{sun2025embracing,
  title        = {Embracing dynamics: Dynamics-aware 4d gaussian splatting slam},
  author       = {Sun, Zhicong and Lo, Jacqueline and Hu, Jinxing},
  booktitle    = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {5331--5338},
  year         = {2025},
  organization = {IEEE}
}