当前的 3DGS SLAM充分利用了3D GD渲染速度快的优,但是并不直接利用3D GS显式表达进行tracking。而RGBD GS-ICP SLAM的关键创新点在于跟踪以及建图模块使用同一个3D GS显示地图。 该系统的框架图流程如下: 首先,系统接收RGB-D 帧作为输入。然后,通过对当前深度图像进行下采样和重投影生成点云,并在G-ICP过程中利...
In this paper, we propose a novel dense representation SLAM approach with a fusion of Generalized Iterative Closest Point (G-ICP) and 3D Gaussian Splatting (3DGS). In contrast to existing methods, we utilize a single Gaussian map for both tracking and mapping, resulting in mutual benefits. ...
只有尝试自己解决了 1:使用命令locate libtiff.so.5,找哪里有这个文件 这里有坑,看到在gsicpslam下有libtiff.so.5但是当实际去到目录下发现根本没有libtiff.so.5 2:在其他位置复杂locate libtiff.so.5到我们的虚拟环境下 再次运行,大功告成发布于 2024-06-22 16:47・IP 属地四川...
conda create -n gsicpslam python==3.9 conda activate gsicpslam conda install pytorch==2.0.0 torchvision==0.15.0 torchaudio==2.0.0 pytorch-cuda=11.8 -c pytorch -c nvidia pip install -r requirements.txt Also, PCL is needed for fast-gicp submodule. Install submodules conda activate gsicpslam...
we propose a novel dense representation SLAM approach with a fusion of Generalized Iterative Closest Point (G-ICP) and 3D Gaussian Splatting (3DGS). In contrast to existing methods, we utilize a single Gaussian map for both tracking and mapping, resulting in mutual benefits. Through the...
4. 主要贡献● 我们受GS-ICP SLAM启发，提出了一种大规模视觉惯性SLAM框架VIGS SLAM，利用RGB-D和IMU...
为了减少基于3DGS的跟踪的计算量，我们采用了一种基于ICP的跟踪框架，该框架结合了IMU预积分来为精确的...
git clone https://github.com/jagennath-hari/RGBD-3DGS-SLAM --recursive Install the packages using cd RGBD-3DGS-SLAM && chmod +x install.sh && source ./install.sh Or build from source using these libraries. PyTorch (Official Link). ...
mesh rgbd 3dgs 2dgs Updated Jan 1, 2025 Python jhu-lcsr / handeye_calib_camodocal Star 571 Code Issues Pull requests Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and sev...
Code Edit lab-of-ai-and-robotics/gs_icp_slam official 381 Tasks Edit 3DGS Simultaneous Localization and Mapping Datasets Edit NeRF Replica TUM RGB-D Results from the Paper Edit Submit results from this paper to get state-of-the-art GitHub badges and help the community compare ...