这是使用基于3D高斯Splatting的地图表示的主要优势之一。 我们还展示了我们方法对这两个序列的相机轨迹和相机姿态锥的估计,叠加在地图上。人们可以很容易地看到顺序相机姿态之间经常发生的大位移,使得这成为一个非常困难的SLAM基准,但我们的方法却能够非常准确地解决这个问题。 渲染质量结果。在表2中,我们评估了我们...
While we made all parts of our code deterministic, differential rasterizer of Gaussian Splatting is not. The metrics can be slightly different from run to run. In the paper we report average metrics that were computed over three seeds: 0, 1, and 2. ...
终于有开源的3dgs的slam方案了,感动ing 贡献: 如何用显式的体素表征来设计SLAM? Fast rendering and rich optimization : 移除了view-dependent appearance,加入了isotropic Gaussian,使得splatting的速度更快。 相较于传统的SLAM,可以使用实时的dense photometric loss Maps with explicit spatial extent 可以轻松的控制...
We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural implicit SLAM systems in high-quality rendering, scene understanding, ...
Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting Vladimir Yugay · Yue Li* · Theo Gevers · Martin Oswald *Significant contribution Project Page ⚙️ Setting Things Up Clone the repo: git clone https://github.com/VladimirYugay/Gaussian-SLAM Make sure that gcc and g++ ...
GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting. arXiv 2023, arXiv:2311.11700. [Google Scholar] Yugay, V.; Li, Y.; Gevers, T.; Oswald, M.R. Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting. arXiv 2023, arXiv:2312.10070. [Google Scholar] Matsuki, H.; Murai...
However, existing methods estimate pose by minimizing the error between rendered and input images, which is time-consuming and cannot be run in real-time, deviating from the original intention of SLAM. In this paper, we propose a dense RGB-D SLAM based on 3D Gaussian splatting (3DGS) ...