相关论文: LIVE-GS: Online LiDAR-Inertial-Visual State Estima…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
3D Gaussian Splatting (3DGS) has shown its ability in rapid rendering and high-fidelity mapping. In this paper, we introduce LVI-GS, a tightly-coupled LiDAR-Visual-Inertial mapping framework with 3DGS, which leverages the complementary…
In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing methods based on Neural Radiance Fields (NeRF) and 3D…
This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time performance. The proposed method performs robust and accurate…
3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…
In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristics for point-cloud densification and face challenges in…
In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM. Most existing radiance-field-based SLAM systems mainly focus on bounded indoor environments, equipped…
We present LiV-GS, a LiDAR-visual SLAM system in outdoor environments that leverages 3D Gaussian as a differentiable spatial representation. Notably, LiV-GS is the first method that directly aligns discrete and sparse LiDAR data with…
We present VIGS-SLAM, a visual-inertial 3D Gaussian Splatting SLAM system that achieves robust real-time tracking and high-fidelity reconstruction. Although recent 3DGS-based SLAM methods achieve dense and photorealistic mapping, their…
This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…
Recently, 3D Gaussian splatting-based RGB-D SLAM displays remarkable performance of high-fidelity 3D reconstruction. However, the lack of depth rendering consistency and efficient loop closure limits the quality of its geometric…
We present LiDAR-GS, a Gaussian Splatting (GS) method for real-time, high-fidelity re-simulation of LiDAR scans in public urban road scenes. Recent GS methods proposed for cameras have achieved significant advancements in real-time…
3D Gaussian Splatting (3DGS) has recently emerged as a powerful representation of geometry and appearance for dense Simultaneous Localization and Mapping (SLAM). Through rapid, differentiable rasterization of 3D Gaussians, many 3DGS SLAM…
3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…
Large-scale 3D reconstruction is critical in the field of robotics, and the potential of 3D Gaussian Splatting (3DGS) for achieving accurate object-level reconstruction has been demonstrated. However, ensuring geometric accuracy in outdoor…
Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…
The 3D Gaussian Splatting (3DGS)-based SLAM system has garnered widespread attention due to its excellent performance in real-time high-fidelity rendering. However, in real-world environments with dynamic objects, existing 3DGS-based SLAM…
Traditional Simultaneous Localization and Mapping (SLAM) systems often face limitations including coarse rendering quality, insufficient recovery of scene details, and poor robustness in dynamic environments. 3D Gaussian Splatting (3DGS),…
In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…
The reliability of Simultaneous Localization and Mapping (SLAM) is severely constrained in environments where visual inputs suffer from noise and low illumination. Although recent 3D Gaussian Splatting (3DGS) based SLAM frameworks achieve…