# muskie82/MonoGS

[CVPR'24 Highlight & Best Demo Award] Gaussian Splatting SLAM

Repository: https://github.com/muskie82/MonoGS
Canonical: https://ross.abutalabs.com/products/monogs
Homepage: https://rmurai.co.uk/projects/GaussianSplattingSLAM/
Language: Python
License: NOASSERTION
License Family: other
Topics: slam, gaussian-splatting, computer-vision, robotics, cvpr2024
Last push: 2024-08-07T14:15:29+00:00

## Health v2 (maintenance only)
Score: 25/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 0, release rhythm 35, longevity 65
- inputs: {"age_days": 913, "days_push": 756, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases, no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 2149, forks 231 (observed 2026-08-28T04:06:19.196760+00:00)

## What it is
MonoGS is a dense SLAM system that applies 3D Gaussian Splatting to monocular, stereo, and RGB-D camera tracking and mapping, presented at CVPR 2024. It runs live (around 3fps) and unifies tracking, mapping, and high-quality novel-view rendering using Gaussians as the sole 3D representation.

## Use cases
- run monocular SLAM with 3D Gaussian Splatting on TUM RGB-D sequences
- reconstruct 3D scenes from an RGB-D or stereo camera in real time
- estimate camera trajectories while building splat-based dense maps
- render novel views of a live-reconstructed scene
- benchmark SLAM tracking and mapping on Replica and TUM datasets

## When to choose
- you need a research-grade Gaussian Splatting SLAM baseline for monocular or RGB-D input
- you want high-fidelity rendering combined with camera tracking in one system
- you are evaluating novel view synthesis and trajectory estimation on standard SLAM datasets

## When to avoid
- you need a production SLAM stack with long-term support and a permissive license
- you lack a CUDA-capable NVIDIA GPU
- you need real-time performance well above 3-10fps on modest hardware

## Facets
- artifact type: application
- maturity: active
- function: computer-vision, graphics, simulation
- domain: robotics, computer-vision, graphics
- platform: python
- tags: slam, gaussian-splatting, monocular-slam, rgb-d, 3d-reconstruction, cvpr-2024, research-code, linux, gpu

## Member repositories
- muskie82/MonoGS (main) score 25

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:06:19.196760+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T02:50:59.630822+00:00, confidence not recorded.
  - readme: https://github.com/muskie82/MonoGS (fetched 2026-08-28T04:06:19.196760+00:00, sha 01b6788bb781)
  - homepage: https://rmurai.co.uk/projects/GaussianSplattingSLAM/ (fetched 2026-08-29T10:30:52.627745+00:00, sha 739b9db8599e)
- Data as of 2026-08-30T08:39:29.467469+00:00.