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Panoptic 3D Scene Reconstruction with Gaussian Splatting SLAM

A SLAM system that jointly recovers geometry, semantic labels, and object instances (panoptic information) as a 3D Gaussian-splatting map from unlabeled RGB-D video. Its Spatial-Temporal Lifting module lifts noisy 2D panoptic pseudo-labels from vision foundation models into 3D and refines them via multi-view consistency, enabling online, label-free panoptic reconstruction of open-world scenes.