相关论文: $S^3$LAM: Surfel Splatting SLAM for Geometrically …
This paper introduces MipSLAM, a frequency-aware 3D Gaussian Splatting (3DGS) SLAM framework capable of high-fidelity anti-aliased novel view synthesis and robust pose estimation under varying camera configurations. Existing 3DGS-based SLAM…
Combining 3D Gaussian splatting with Simultaneous Localization and Mapping (SLAM) has gained popularity as it enables continuous 3D environment reconstruction during motion. However, existing methods struggle in dynamic environments,…
Recent 3D Gaussian Splatting (3DGS) techniques for Visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However, their sequential optimization framework and sensitivity to…
High-quality reconstruction is crucial for dense SLAM. Recent popular approaches utilize 3D Gaussian Splatting (3D GS) techniques for RGB, depth, and semantic reconstruction of scenes. However, these methods often overlook issues of detail…
3D Gaussian Splatting (3DGS) has demonstrated impressive performance in 3D scene reconstruction. Beyond novel view synthesis, it shows great potential for multi-view surface reconstruction. Existing methods employ optimization-based…
Recent advances in dense 3D reconstruction have demonstrated strong capability in accurately capturing local geometry. However, extending these methods to incremental global reconstruction, as required in SLAM systems, remains challenging.…
We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a compact Gaussian representation and a highly efficient…
The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are still challenging situations in which established methods…
Modern Gaussian Splatting methods have proven highly effective for real-time photorealistic rendering of 3D scenes. However, integrating semantic information into this representation remains a significant challenge, especially in…
We propose GSO-SLAM, a real-time monocular dense SLAM system that leverages Gaussian scene representation. Unlike existing methods that couple tracking and mapping with a unified scene, incurring computational costs, or loosely integrate…
We introduce Dynamic Gaussian Splatting SLAM (DGS-SLAM), the first dynamic SLAM framework built on the foundation of Gaussian Splatting. While recent advancements in dense SLAM have leveraged Gaussian Splatting to enhance scene…
3D Gaussian Splatting (3DGS) has become a popular solution in SLAM, as it can produce high-fidelity novel views. However, previous GS-based methods primarily target indoor scenes and rely on RGB-D sensors or pre-trained depth estimation…
3D reconstruction and relighting of objects made from scattering materials present a significant challenge due to the complex light transport beneath the surface. 3D Gaussian Splatting introduced high-quality novel view synthesis at…
Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…
Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…
Emerging 3D scene representations, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have demonstrated their effectiveness in Simultaneous Localization and Mapping (SLAM) for photo-realistic rendering, particularly…
We introduce Go-SLAM, a novel framework that utilizes 3D Gaussian Splatting SLAM to reconstruct dynamic environments while embedding object-level information within the scene representations. This framework employs advanced object…
SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…
Efficient three-dimensional reconstruction and real-time visualization are critical in surgical scenarios such as endoscopy. In recent years, 3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in efficient 3D…
Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…