DPGS-SLAM: Diffusion-Prior and Provenance-Aware Monocular Gaussian Splatting SLAM for Dynamic Visual Sensing

Yifan Luo, Takafumi Matsumaru, Vibekananda Dutta, Xin He

This paper presents DPGS-SLAM (Diffusion-Prior and Provenance-Aware Monocular Gaussian Splatting SLAM) for dense mapping in environments containing dynamic objects. Dynamic observations can contaminate camera tracking and scene reconstruction in visual SLAM (simultaneous localization and mapping). Although 3DGS (3D Gaussian splatting) enables efficient dense mapping, existing 3DGS-SLAM systems may exhibit instability when dynamic objects violate their underlying static-scene assumption. Excluding dynamic observations can reduce their influence on tracking and mapping, but may leave occluded static backgrounds missing or weakly constrained. Our proposed DPGS-SLAM is a monocular RGB SLAM framework that supports provisional representations of insufficiently observed static backgrounds through asynchronous diffusion-based background completion and provenance-aware Gaussian mapping. Dynamic regions are identified through optical-flow-based motion discovery and temporally consistent mask propagation by SAM2 (segment anything model 2). For selected keyframes, a fine-tuned diffusion inpainting model generates plausible background appearance in occluded regions, while Metric3D v2 predicts…