Training 3D gaussian splats recursively? Does it exist already?

The hot thing right now in computer graphics is 3D Gaussian Splatting.

What about a VIO/SLAM algorithm that represents its map as gaussian splats, training the map recursively as it moves around? Does such a representation exist already in the SLAM/VIO world?

It would be really neat because you could synthesize photorealistic novel views in real time while the map is being constructed. That could have some really cool applications.

algorithm computer computer graphics computervision graphics hot map representation slam training world