今天,介绍一篇以RGB-D作为输入、基于3D GS的稠密表达方式的SLAM框架RGBD GS-ICP SLAM。 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-...
code: GitHub - Lab-of-AI-and-Robotics/GS_ICP_SLAM 既然敢叫GS-ICP,想必有独到之处的doge 所谓的gs-icp中使用了分布-分布(distribution-to-distribution)的匹配方法:fast gicp,这个需要单独写一篇:逃课容易:distribution-to-distribution icp。 使用Gicp进行track获取帧间pose。 使用GICP中计算的点云协方差初始...
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. ...
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. ...
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. ...
RGBD-3DGS-SLAM RGBD-3DGS-SLAM is a sophisticated SLAM system that employs 3D Gaussian Splatting (3DGS) from Guassian Splatting SLAM (MonoGS) for precise point cloud and visual odometry estimations. It leverages neural network Universal Monocular Metric Depth Estimation (UniDepthV2) to infer dept...
RGBD GS-ICP SLAM 是一种结合通用迭代最近点算法(Generalized Iterative Closest Point, G-ICP)和3D高斯投影(3D Gaussian Splatting, 3DGS)的密集表示SLAM系统,旨在通过共享同一3D高斯地图提高SLAM性能。该方法通过在跟踪与映射过程间交换协方差信息,减少了冗余计算,提升了跟踪精度和地图质量,实现了最高107 FPS的实时...
SplaTAM。这种方法将场景表示为简化的3D高斯图的集合,从而实现高质量的彩色和深度图像渲染。SLAM管道包括几个关键步骤:相机跟踪-高斯稠密化-地图更新。 GSSLAM。该系统采用3D高斯飞溅作为其唯一的表示,使用单个移动的RGB或RGB-D相机进行在线3D重建。该框架包括几个关键组件,如跟踪和相机姿态优化、高斯形状验证和正则化...
mesh rgbd 3dgs Updated Sep 28, 2024 Python marek-simonik / record3d Star 382 Code Issues Pull requests Accompanying library for the Record3D iOS app (https://record3d.app/). Allows you to receive RGBD stream from iOS devices with TrueDepth camera(s). ios point-cloud streaming-video...