Differential Gaussian Rasterization with Camera Pose Jacobians and Per-Splat Variance

Modified rasterization engine used in VarSplat. Built on top of diff-gaussian-rasterization-w-pose from "Gaussian Splatting SLAM", this fork adds:

• Uncertainty map rendering via per-splat appearance variance.
• Analytical gradient for SE(3) camera poses.
• Analytical gradient for rendered depth.

Install

If you can make use of it in your own research, please be so kind to cite all three papers.

Citation

If you use this code, please cite:

@inproceedings{tran2026varsplat,
  title   = {VarSplat: Uncertainty-aware 3D Gaussian Splatting for Robust RGB-D SLAM},
  author  = {Tran, Anh Thuan and Kosecka, Jana},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year    = {2026}
}

@inproceedings{Matsuki:Murai:etal:CVPR2024,
  title     = {{G}aussian {S}platting {SLAM}},
  author    = {Hidenobu Matsuki and Riku Murai and Paul H. J. Kelly and Andrew J. Davison},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {2024}
}

@Article{kerbl3Dgaussians,
  author  = {Kerbl, Bernhard and Kopanas, Georgios and Leimk{\"u}hler, Thomas and Drettakis, George},
  title   = {3D Gaussian Splatting for Real-Time Radiance Field Rendering},
  journal = {ACM Transactions on Graphics},
  number  = {4},
  volume  = {42},
  month   = {July},
  year    = {2023},
  url     = {https://repo-sam.inria.fr/fungraph/3d-gaussian-splatting/}
}