Splatonic: Architecture Support for 3D Gaussian Splatting SLAM via Sparse Processing

Additional Titles: 3D Gaussian splatting (3DGS) has emerged as a promising direction for SLAM due to its high-fidelity reconstruction and rapid convergence. However, 3DGS-SLAM algorithms remain impractical for mobile platforms due to their high computational cost, especially for their tracking process. This work introduces Splatonic, a sparse and efficient real-time 3DGS-SLAM algorithm-hardware co-design for resource-constrained devices. Inspired by classical SLAMs, we propose an adaptive sparse pixel sampling algorithm that reduces the number of rendered pixels by up to 256$\times$ while retaining accuracy. To unlock this performance potential on mobile GPUs, we design a novel pixel-based rendering pipeline that improves hardware utilization via Gaussian-parallel rendering and preemptive $α$-checking. Together, these optimizations yield up to 121.7$\times$ speedup on the bottleneck stages and 14.6$\times$ end-to-end speedup on off-the-shelf GPUs. To further address new bottlenecks introduced by our rendering pipeline, we propose a pipelined architecture that simplifies the overall design while addressing newly emerged bottlenecks in projection and aggregation. Evaluated across four 3DGS-SLAM algorithms, Splatonic achieves up to 274.9$\times$ speedup and 4738.5$\times$ energy savings over mobile GPUs and up to 25.2$\times$ speedup and 241.1$\times$ energy savings over state-of-the-art accelerators, all with comparable accuracy.

Authors: Huang, Xiaotong, Zhu, He, Ma, Tianrui, Xiong, Yuxiang, Liu, Fangxin, He, Zhezhi, Gan, Yiming, Liu, Zihan, Leng, Jingwen, Feng, Yu, Guo, Minyi

Index Terms: Hardware Architecture, text

URL: http://arxiv.org/abs/2511.18755

ParVox-a parallel splatting volume rendering system for distributed visualization

Authors: Li, P.P., Whitman, S., Mendoza, R., Tsiao, J.

Source: Proceedings IEEE Symposium on Parallel Rendering (PRS'97) Parallel rendering Parallel Rendering, 1997. PRS 97. Proceedings. IEEE Symposium on. :7-14 1997

Relation: Proceedings IEEE Symposium on Parallel Rendering (PRS'97)

No Redundancy, No Stall: Lightweight Streaming 3D Gaussian Splatting for Real-time Rendering

Authors: Wei, Linye, Tang, Jiajun, Fei, Fan, Shi, Boxin, Wang, Runsheng, Li, Meng

Source: 2025 IEEE/ACM International Conference On Computer Aided Design (ICCAD) Computer Aided Design (ICCAD), 2025 IEEE/ACM International Conference On. :1-9 Oct, 2025

Relation: 2025 IEEE/ACM International Conference On Computer Aided Design (ICCAD)

Optimizing 3D Gaussian Splattering for Mobile GPUs

Authors: Sanim, Md Musfiqur Rahman, Shu, Zhihao, Afsharmanesh, Bahram, Mirian, AmirAli, Guan, Jiexiong, Niu, Wei, Ren, Bin, Agrawal, Gagan

Source: 2025 34th International Conference on Parallel Architectures and Compilation Techniques (PACT) PACT Parallel Architectures and Compilation Techniques (PACT), 2025 34th International Conference on. :359-371 Nov, 2025

Relation: 2025 34th International Conference on Parallel Architectures and Compilation Techniques (PACT)

TC-GS: A Faster Gaussian Splatting Module Utilizing Tensor Cores

Authors: Liao, Zimu, Ding, Jifeng, Cui, Siwei, Gong, Ruixuan, Hu, Boni, Wang, Yi, Li, Hengjie, Zhang, XIngcheng, Wang, Hui, Fu, Rong

Subject Terms: Graphics, Computer Vision and Pattern Recognition, Distributed, Parallel, and Cluster Computing, I.3.6; I.3.2; D.1.3

Access URL: http://arxiv.org/abs/2505.24796

Single-View Reconstruction via Decoupled 3D Gaussian Splatting

Authors: Liu, Sheng, Zhu, Shiming, Pi, Huilong, Qin, Yunchuan, Tang, Zhuo, Li, Ruihui

Source: ICASSP 2025 - 2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) Acoustics, Speech and Signal Processing (ICASSP), ICASSP 2025 - 2025 IEEE International Conference on. :1-5 Apr, 2025

Relation: ICASSP 2025 - 2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)

A3FR: Agile 3D Gaussian Splatting with Incremental Gaze Tracked Foveated Rendering in Virtual Reality

Authors: Xin, Shuo, Wang, Haiyu, Zhang, Sai Qian

Subject Terms: Graphics, Computer Vision and Pattern Recognition, Distributed, Parallel, and Cluster Computing

Access URL: http://arxiv.org/abs/2507.04147

A Momentum‑GS‑ Based Large-Scale 3D Reconstruction Algorithm for Bridge Piers Using a Climbing Robotic Platform

Authors: Du, Hao, Wang, Huifeng, Pan, Zefeng, Jiao, Yunmei

Source: 2025 12th International Forum on Electrical Engineering and Automation (IFEEA) Electrical Engineering and Automation (IFEEA), 2025 12th International Forum on. :31-35 Nov, 2025

Relation: 2025 12th International Forum on Electrical Engineering and Automation (IFEEA)

A Parallel Volume Splatting Algorithm Based on PC-Clusters

Authors: Zhang, Jiawan, primary, Sun, Jizhou, additional, Zhang, Yi, additional, Han, Qianqian, additional, Jin, Zhou, additional

Source: Lecture Notes in Computer Science. 2004/01/01

SPLATONIC: Architectural Support for 3D Gaussian Splatting SLAM via Sparse Processing

Authors: Huang, Xiaotong, Zhu, He, Ma, Tianrui, Xiong, Yuxiang, Liu, Fangxin, He, Zhezhi, Gan, Yiming, Liu, Zihan, Leng, Jingwen, Feng, Yu, Guo, Minyi

Source: 2026 IEEE International Symposium on High Performance Computer Architecture (HPCA) High Performance Computer Architecture (HPCA), 2026 IEEE International Symposium on. :1-14 Jan, 2026

Relation: 2026 IEEE International Symposium on High Performance Computer Architecture (HPCA)

Dual-Hilbert Scan for Efficient Video-Based Gaussian Splatting Compression

Authors: Zhu, Zhiwei, Liao, Yiyi, Yu, Lu

Source: 2026 IEEE International Symposium on Circuits and Systems (ISCAS) Circuits and Systems (ISCAS), 2026 IEEE International Symposium on. :4824-4828 May, 2026

Relation: 2026 IEEE International Symposium on Circuits and Systems (ISCAS)

Data-parallel, volumerendering algorithms

Authors: Yagel, Roni, Machiraju, Raghu

Source: The Visual Computer: International Journal of Computer Graphics. June 1995 11(6):319-338

Local-GS: An Order-Independent Gaussian Splatting Training Accelerator Exploiting Splat Locality

Authors: Sun, Yiyang, Zhi, Qinzhe, Jing, Yiqi, Ye, Le, Huang, Ru, Jia, Tianyu

Source: 2025 62nd ACM/IEEE Design Automation Conference (DAC) Design Automation Conference (DAC), 2025 62nd ACM/IEEE. :1-7 Jun, 2025

Relation: 2025 62nd ACM/IEEE Design Automation Conference (DAC)

A new view-buffer splatting algorithm

Authors: Zhigang Sun, Jiawan Zhang, Jizhou Sun, Zunce Wei

Source: CCECE 2003 - Canadian Conference on Electrical and Computer Engineering. Toward a Caring and Humane Technology (Cat. No.03CH37436) Electrical and computer engineering Electrical and Computer Engineering, 2003. IEEE CCECE 2003. Canadian Conference on. 2:1399-1402 vol.2 2003

Relation: CCECE 2003 - Canadian Conference on Electrical and Computer Engineering. Toward a Caring and Humane Technology

AdR-Gaussian: Accelerating Gaussian Splatting with Adaptive Radius

Authors: Wang, Xinzhe, Yi, Ran, Ma, Lizhuang

Source: SIGGRAPH Asia 2024 Conference Papers. :1-10

Availability: http://dl.acm.org/doi/10.1145/3680528.3687675

Efficient Parallel Splatting Algorithms with Sparse Data Structure

利用稀疏資料結構達到有效率的平行濺射描繪法

Authors: Chih-Hsien Hunag, 黃智顯

Thesis Advisors: JEN-SHIUH LIU, 劉振緒

Availability: http://ndltd.ncl.edu.tw/handle/19927903914350018883

Splatting the Lines in Parallel Coordinates.

Authors: Hong Zhou¹, Weiwei Cui¹, Huamin Qu¹, Yingcai Wu¹, Xiaoru Yuan², Wei Zhuo¹

Source: Computer Graphics Forum. Jun2009, Vol. 28 Issue 3, p759-766. 8p. 10 Diagrams.

Subject Terms: *Hyperspace, *Algorithms, *Digital images, *Animation (Cinematography), *Electronic data processing, *Document clustering

PG-SAG: Parallel Gaussian Splatting for Fine-Grained Large-Scale Urban Buildings Reconstruction via Semantic-Aware Grouping

Authors: Wang, Tengfei^Aff1, Wang, Xin^{Aff1, IDs41064025003430_cor1}, Hou, Yongmao^Aff1, Xu, Yiwei^Aff1, Zhang, Wendi^Aff1, Zhan, Zongqian^Aff1

Source: PFG – Journal of Photogrammetry, Remote Sensing and Geoinformation Science: Photogrammetrie, Fernerkundung, Geoinformation. 93(5):483-498

HyperGS: Efficient Real-Time 3D Gaussian Rendering Processor Through Hierarchical Sorting

Authors: Nian, Cheng, Mo, Xiaorui, Peng, Jiaying, Zhang, Weiyi, Din Farrukh, Fasih Ud, Chen, Fei, Zhang, Chun

Source: 2025 IEEE International Symposium on Circuits and Systems (ISCAS) Circuits and Systems (ISCAS), 2025 IEEE International Symposium on. :1-5 May, 2025

Relation: 2025 IEEE International Symposium on Circuits and Systems (ISCAS)

ParVox - A Parallel Splatting Volume Rendering System for Distributed Visualization

Authors: P. Peggy Li, Scott Whitman, Roberto Mendoza, James Tsiao

Contributors: The Pennsylvania State University CiteSeerX Archives

Source: http://www.cse.ohio-state.edu/~hwshen/888/li.pdf.gz.

Subject Terms: Direct Volume Rendering, Wavelet Image Compression, Parallel Splatting Algorithm, Distributed Scientific Visualization

File Description: application/pdf

Relation: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.10.9829

Availability: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.10.9829
http://www.cse.ohio-state.edu/~hwshen/888/li.pdf.gz